adhoc

completed
2026-09-22T18:08:58.364289+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (75 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
277.8 s
total steps
359
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Place all the objects into the safe, then close the safe.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe open safe is in the middle, with a yellow object to its right and two plush objects in front and to its left. I am bringing the right gripper above the yellow object first.
move_to
right_x0.4300right_y0.1300right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7929, 0.6044, -0.3908, -0.0193, -0.0341, 0.9993, -0.0212, 0.7937, 0.6067, -0.403, -0.0204, -0.0128, 0.9996] state[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1782 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.292 right_y=0.001 right_z=0.1766 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4855, -1.4291, 10.2085, 2.0, -0.0904, 0.1392, -0.0904, -0.335, -1.4701, 9.6479, 2.0879, -0.0464, -0.0562, -0.0513] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.13,"right_z":0.15},"note":"The open safe is in the middle, with a yellow object to its right and two plush objects in front and to its left. I am bringing the right gripper above the yellow object first."})
tool
executing move_to over 11 steps (1.1s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe yellow object is visible slightly right of the wrist-camera jaw column. I will center the jaws over it while lowering to grasp its sides.
move_to
right_x0.4550right_y0.1080right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7963, 0.6067, -0.4057, -0.0193, -0.0383, 0.9992, 0.411, 1.5379, 0.9245, -0.1043, 0.3046, 0.2081, 0.9996] state[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1753 left_yaw=0.0027 left_pitch=-0.016 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4103 right_y=0.1249 right_z=0.1271 right_yaw=0.0396 right_pitch=-0.0888 right_roll=-0.0385 right_gripper=0.9996 state[joint_eff]: [-0.0889, -1.5248, 6.8444, 1.8291, -0.0415, -0.0073, -0.022, 0.1436, -7.2137, 8.759, 2.0, 0.3443, 0.1832, -0.0171] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.455,"right_y":0.108,"right_z":0.025},"note":"The yellow object is visible slightly right of the wrist-camera jaw column. I will center the jaws over it while lowering to grasp its sides."})
tool
executing move_to over 7 steps (0.7s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe yellow object is centered laterally but still appears ahead of the fingertips. I am advancing a few centimeters at low height so the jaws can surround it.
move_to
right_x0.4900right_y0.0970right_z0.0140
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4095, -0.0193, -0.0383, 0.9992, 0.3134, 1.8652, 0.8558, 0.2615, 0.2462, 0.1543, 0.9996] state[eef_state]: left_x=0.2913 left_y=0.0015 left_z=0.1742 left_yaw=0.0027 left_pitch=-0.021 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4449 right_y=0.1027 right_z=0.0252 right_yaw=0.0184 right_pitch=-0.1313 right_roll=-0.0527 right_gripper=0.9996 state[joint_eff]: [-0.2256, -1.3333, 7.0085, 1.7167, -0.0708, -0.022, -0.0122, -0.0479, -7.4462, 6.1744, 1.2137, 0.022, -0.2076, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.097,"right_z":0.014},"note":"The yellow object is centered laterally but still appears ahead of the fingertips. I am advancing a few centimeters at low height so the jaws can surround it."})
tool
executing move_to over 4 steps (0.4s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe yellow object now extends between the fingertips. I will close the gripper to secure it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4274, -0.0189, -0.0387, 0.9992, 0.2657, 1.9987, 0.9916, 0.2405, 0.2077, 0.1226, 0.9996] state[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1703 left_yaw=0.0026 left_pitch=-0.04 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4778 right_y=0.096 right_z=0.0088 right_yaw=0.0194 right_pitch=-0.1572 right_roll=-0.0557 right_gripper=0.9996 state[joint_eff]: [-0.253, -1.3197, 7.0222, 1.8681, -0.022, -0.0513, -0.0122, -0.6359, -9.0598, 7.1726, 1.6923, 0.1099, -0.0562, -0.0122] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The yellow object now extends between the fingertips. I will close the gripper to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteThe gripper has stopped at about half its opening, consistent with holding the yellow object. I will lift it slightly to verify the grasp before carrying it into the safe.
move_to
right_z0.0900left_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.2623, 2.0121, 0.9966, 0.2417, 0.2012, 0.1162, 0.4968] state[eef_state]: left_x=0.2877 left_y=0.0016 left_z=0.1687 left_yaw=0.0029 left_pitch=-0.048 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4785 right_y=0.0956 right_z=0.0044 right_yaw=0.0247 right_pitch=-0.1655 right_roll=-0.0579 right_gripper=0.4968 state[joint_eff]: [-0.0205, -1.2376, 7.159, 1.8095, -0.0659, -0.0171, -0.0171, 0.1573, -11.1248, 5.2034, 1.4969, 0.0806, 0.0171, 1.0134] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.09,"left_z":0.18},"note":"The gripper has stopped at about half its opening, consistent with holding the yellow object. I will lift it slightly to verify the grasp before carrying it into the safe."})
tool
executing move_to over 6 steps (0.6s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe yellow object has lifted with the gripper. I will carry it up and left over the open compartment, clearing the safe's rim.
move_to
right_x0.4500right_y0.2800right_z0.1900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7998, 0.6144, -0.482, -0.0189, -0.0387, 0.9992, 0.2623, 1.8587, 1.0966, -0.0574, 0.197, 0.1116, 0.4993] state[eef_state]: left_x=0.2818 left_y=0.0016 left_z=0.1626 left_yaw=0.0027 left_pitch=-0.0881 left_roll=-0.0021 left_gripper=0.9992 right_x=0.4714 right_y=0.0944 right_z=0.0617 right_yaw=0.0288 right_pitch=-0.2109 right_roll=-0.0691 right_gripper=0.4993 state[joint_eff]: [-0.335, -0.759, 10.3726, 1.7802, -0.022, -0.0317, -0.0122, -0.1299, -11.412, 8.9915, 1.7265, 0.1245, 0.0269, 0.2515] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.45,"right_y":0.28,"right_z":0.19},"note":"The yellow object has lifted with the gripper. I will carry it up and left over the open compartment, clearing the safe's rim."})
tool
executing move_to over 16 steps (1.6s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe yellow object is above the safe's red-lined compartment. I will lower it inside before opening the gripper.
move_to
right_z0.0650
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8036, 0.6197, -0.5018, -0.0193, -0.0422, 0.9992, 0.6971, 2.0251, 1.8534, -0.7731, 0.4511, 0.432, 0.5015] state[eef_state]: left_x=0.2797 left_y=0.0017 left_z=0.1602 left_yaw=0.0049 left_pitch=-0.1064 left_roll=-0.0042 left_gripper=0.9992 right_x=0.4471 right_y=0.2787 right_z=0.181 right_yaw=0.0664 right_pitch=-0.2296 right_roll=-0.079 right_gripper=0.5015 state[joint_eff]: [-0.212, -1.4838, 6.7487, 1.7998, -0.0562, -0.0269, -0.0122, 0.212, -10.6188, 8.5402, 1.2576, 0.3101, 0.188, 0.2173] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.065},"note":"The yellow object is above the safe's red-lined compartment. I will lower it inside before opening the gripper."})
tool
executing move_to over 8 steps (0.8s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteThe yellow object is inside the compartment and close to its floor. I will release it there.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6197, -0.5175, -0.0189, -0.0422, 0.9992, 0.6991, 2.0727, 1.4986, -0.4213, 0.4484, 0.4301, 0.5031] state[eef_state]: left_x=0.2773 left_y=0.0017 left_z=0.1571 left_yaw=0.0046 left_pitch=-0.1224 left_roll=-0.004 left_gripper=0.9992 right_x=0.4374 right_y=0.2723 right_z=0.0685 right_yaw=0.0637 right_pitch=-0.2719 right_roll=-0.1094 right_gripper=0.5031 state[joint_eff]: [-0.1436, -1.0735, 6.9128, 1.746, -0.0611, -0.0562, -0.0122, -0.3214, -10.2359, 6.5573, 1.536, 0.1587, -0.0269, 0.1538] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"The yellow object is inside the compartment and close to its floor. I will release it there."})
tool
executing move_to over 5 steps (0.5s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteThe yellow object is resting in the safe. I will withdraw the right arm and bring the left gripper over the light-colored plush beside the safe.
move_to
right_x0.3000right_y0.0000right_z0.2000left_x0.3950left_y-0.2200left_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6197, -0.5201, -0.0193, -0.0422, 0.9992, 0.6991, 2.0979, 1.4807, -0.4286, 0.4446, 0.4252, 0.9943] state[eef_state]: left_x=0.2768 left_y=0.0018 left_z=0.1566 left_yaw=0.005 left_pitch=-0.1251 left_roll=-0.0037 left_gripper=0.9992 right_x=0.4311 right_y=0.2679 right_z=0.0488 right_yaw=0.0603 right_pitch=-0.3147 right_roll=-0.1413 right_gripper=0.9943 state[joint_eff]: [-0.294, -1.2103, 6.9128, 1.663, -0.0757, -0.022, -0.0122, -0.3487, -13.6137, 7.6239, 1.2625, 0.1832, 0.0317, 0.0366] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.30,"right_y":0.0,"right_z":0.20,"left_x":0.395,"left_y":-0.22,"left_z":0.15},"note":"The yellow object is resting in the safe. I will withdraw the right arm and bring the left gripper over the light-colored plush beside the safe."})
tool
executing move_to over 23 steps (2.3s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe light plush is slightly left of the jaw column and lies beside the safe wall. I will shift left and lower the open jaws around its body.
move_to
left_x0.4100left_y-0.1900left_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7059, 1.668, 1.1656, -0.3923, -0.5037, -0.5407, 0.9992, 0.0376, 1.1137, 0.9989, -0.8261, 0.0895, -0.1017, 0.9952] state[eef_state]: left_x=0.3848 left_y=-0.2113 left_z=0.1342 left_yaw=-0.0001 left_pitch=-0.1731 left_roll=0.016 left_gripper=0.9992 right_x=0.2989 right_y=-0.001 right_z=0.1818 right_yaw=0.0153 right_pitch=-0.354 right_roll=-0.1426 right_gripper=0.9952 state[joint_eff]: [-0.5675, -8.0752, 8.841, 1.5458, -0.4713, 0.0269, -0.0122, -0.1299, -4.1504, 9.8667, 1.6337, -0.1148, -0.0513, 0.0806] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.19,"left_z":0.025},"note":"The light plush is slightly left of the jaw column and lies beside the safe wall. I will shift left and lower the open jaws around its body."})
tool
executing move_to over 8 steps (0.8s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteThe plush's body is between the lowered fingertips. I will close around its soft torso.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6174, 1.8675, 0.955, 0.012, -0.4576, -0.4805, 0.9992, 0.038, 1.1175, 0.9981, -0.8585, 0.0784, -0.1196, 0.9953] state[eef_state]: left_x=0.4032 left_y=-0.1862 left_z=0.0284 left_yaw=0.0214 left_pitch=-0.2011 left_roll=0.0351 left_gripper=0.9992 right_x=0.2925 right_y=0.0009 right_z=0.1757 right_yaw=0.036 right_pitch=-0.3925 right_roll=-0.1444 right_gripper=0.9953 state[joint_eff]: [0.3761, -7.788, 4.6564, 1.2186, -0.0562, 0.2222, -0.0171, -0.1436, -3.5077, 6.6256, 1.5946, 0.1197, 0.1343, -0.0024] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The plush's body is between the lowered fingertips. I will close around its soft torso."})
tool
executing move_to over 10 steps (1.0s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteThe gripper closed nearly fully, which could mean it caught only a thin part of the plush. I will lift a short distance to check whether the object is secured.
move_to
left_z0.0950
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6144, 1.879, 0.9489, 0.0292, -0.4763, -0.4786, 0.0437, 0.038, 1.1175, 0.9981, -0.8818, 0.0811, -0.1238, 0.9953] state[eef_state]: left_x=0.4047 left_y=-0.182 left_z=0.0252 left_yaw=0.0374 left_pitch=-0.1926 left_roll=0.0487 left_gripper=0.0437 right_x=0.2877 right_y=0.0002 right_z=0.1726 right_yaw=0.0361 right_pitch=-0.4161 right_roll=-0.1493 right_gripper=0.9953 state[joint_eff]: [-0.2256, -9.9897, 6.0239, 1.2869, -0.1001, -0.0952, 1.2039, -0.1299, -3.1795, 6.5299, 1.4676, -0.0171, 0.0024, -0.0073] camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.095},"note":"The gripper closed nearly fully, which could mean it caught only a thin part of the plush. I will lift a short distance to check whether the object is secured."})
tool
executing move_to over 5 steps (0.5s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe plush remains on the table, so the first close did not secure its body. I will reopen and advance farther over it for a centered grasp.
move_to
left_gripper1.0000left_x0.4450left_y-0.1750left_z0.0180
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6144, 1.795, 1.0313, -0.2436, -0.4629, -0.482, 0.0467, 0.0383, 1.1175, 0.9981, -0.9035, 0.0811, -0.1238, 0.9953] state[eef_state]: left_x=0.3899 left_y=-0.1741 left_z=0.0506 left_yaw=0.0452 left_pitch=-0.2835 left_roll=0.1041 left_gripper=0.0467 right_x=0.2832 right_y=0.0001 right_z=0.1697 right_yaw=0.0365 right_pitch=-0.4378 right_roll=-0.1494 right_gripper=0.9953 state[joint_eff]: [-0.1026, -12.6291, 10.0718, 1.8632, -0.359, 0.0122, 1.033, -0.0615, -3.1658, 6.735, 1.4237, -0.0171, -0.0562, -0.0073] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0,"left_x":0.445,"left_y":-0.175,"left_z":0.018},"note":"The plush remains on the table, so the first close did not secure its body. I will reopen and advance farther over it for a centered grasp."})
tool
executing move_to over 10 steps (1.0s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteThe open jaws are too close to the safe wall, with the plush off to their left. I will shift away from the wall to put the plush between the fingers.
move_to
left_y-0.1200left_x0.4400left_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5385, 1.9949, 1.1496, -0.1772, -0.4282, -0.4343, 0.9953, 0.0383, 1.1175, 0.9981, -0.9188, 0.0814, -0.1242, 0.9953] state[eef_state]: left_x=0.4312 left_y=-0.168 left_z=0.0123 left_yaw=0.0711 left_pitch=-0.3164 left_roll=0.1206 left_gripper=0.9953 right_x=0.28 right_y=-0.0001 right_z=0.1678 right_yaw=0.0363 right_pitch=-0.4531 right_roll=-0.15 right_gripper=0.9953 state[joint_eff]: [0.3214, -8.7043, 7.9248, 1.4579, -0.1636, 0.1978, -0.1294, -0.1846, -3.1521, 6.7624, 1.3895, -0.022, -0.0659, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.12,"left_x":0.44,"left_z":0.02},"note":"The open jaws are too close to the safe wall, with the plush off to their left. I will shift away from the wall to put the plush between the fingers."})
tool
executing move_to over 5 steps (0.5s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe plush is still alongside the left finger rather than centered, and the safe is very close. I will raise clear and shift farther left before making another approach.
move_to
left_z0.1200left_y-0.0700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4282, 1.9591, 1.0966, -0.128, -0.358, -0.3553, 0.9963, 0.0383, 1.1175, 0.9981, -0.9272, 0.0811, -0.1242, 0.9953] state[eef_state]: left_x=0.4402 left_y=-0.129 left_z=0.0125 left_yaw=0.0762 left_pitch=-0.3256 left_roll=0.1015 left_gripper=0.9963 right_x=0.2782 right_y=-0.0001 right_z=0.1668 right_yaw=0.0367 right_pitch=-0.4615 right_roll=-0.1496 right_gripper=0.9953 state[joint_eff]: [0.5675, -11.6991, 4.8615, 1.2576, -0.3248, 0.1636, 0.0952, -0.0068, -2.906, 6.4752, 1.2332, -0.022, -0.0659, -0.0073] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.12,"left_y":-0.07},"note":"The plush is still alongside the left finger rather than centered, and the safe is very close. I will raise clear and shift farther left before making another approach."})
tool
executing move_to over 7 steps (0.7s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteThe arm did not rise as commanded, suggesting the open finger is caught near the safe rim. I will retreat toward the front and raise the wrist to clear that contact.
move_to
left_x0.3600left_y-0.1200left_z0.1800left_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4118, 1.9537, 1.0916, -0.128, -0.3561, -0.3298, 0.9965, 0.038, 1.1175, 0.9981, -0.9459, 0.0814, -0.1242, 0.9953] state[eef_state]: left_x=0.4411 left_y=-0.1216 left_z=0.013 left_yaw=0.0763 left_pitch=-0.3276 left_roll=0.1166 left_gripper=0.9965 right_x=0.2742 right_y=-0.0004 right_z=0.1645 right_yaw=0.0359 right_pitch=-0.4802 right_roll=-0.1501 right_gripper=0.9953 state[joint_eff]: [-0.0068, -11.7812, 4.9709, 1.199, -0.232, 0.0708, 0.0024, -0.1026, -3.1248, 6.4479, 1.3455, 0.0024, -0.0562, -0.0073] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.12,"left_z":0.18,"left_pitch":0.2},"note":"The arm did not rise as commanded, suggesting the open finger is caught near the safe rim. I will retreat toward the front and raise the wrist to clear that contact."})
tool
executing move_to over 18 steps (1.8s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe arm is clear, and the light plush is visible just left of the jaw column. I will lower over its torso while staying away from the safe wall.
move_to
left_x0.3800left_y-0.0850left_z0.0200left_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6376, 1.3178, 0.7059, 0.0483, -0.6853, -0.2752, 0.9966, 0.0383, 1.1221, 0.9962, -0.9668, 0.0814, -0.1242, 0.9953] state[eef_state]: left_x=0.3611 left_y=-0.1239 left_z=0.1656 left_yaw=0.0572 left_pitch=0.1482 left_roll=0.1173 left_gripper=0.9966 right_x=0.2695 right_y=-0.0005 right_z=0.1602 right_yaw=0.0363 right_pitch=-0.5076 right_roll=-0.1501 right_gripper=0.9953 state[joint_eff]: [-0.4718, -6.0103, 6.3111, 1.8779, -0.3492, 0.1245, -0.0024, -0.0615, -3.4803, 6.5846, 1.3065, 0.0122, -0.0269, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.085,"left_z":0.02,"left_pitch":0.2},"note":"The arm is clear, and the light plush is visible just left of the jaw column. I will lower over its torso while staying away from the safe wall."})
tool
executing move_to over 10 steps (1.0s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteThe plush is within reach but remains left of the closing line. I will make a small leftward and forward correction to surround its middle.
move_to
left_x0.4050left_y-0.0550left_z0.0120
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.482, 1.8759, 0.4034, 1.0462, -0.5831, -0.1875, 0.997, 0.0383, 1.124, 0.9943, -0.9714, 0.0814, -0.1242, 0.9953] state[eef_state]: left_x=0.3846 left_y=-0.0874 left_z=0.0361 left_yaw=0.0967 left_pitch=0.2248 left_roll=0.077 left_gripper=0.997 right_x=0.2682 right_y=-0.0005 right_z=0.1585 right_yaw=0.0363 right_pitch=-0.516 right_roll=-0.1501 right_gripper=0.9953 state[joint_eff]: [0.6769, -4.7111, 1.6752, 0.4762, 0.0366, 0.3736, 0.0317, -0.1436, -3.2615, 6.5436, 1.1453, 0.0122, -0.0513, -0.0073] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.055,"left_z":0.012},"note":"The plush is within reach but remains left of the closing line. I will make a small leftward and forward correction to surround its middle."})
tool
executing move_to over 3 steps (0.3s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteThe light plush is now centered between the jaws. I will close around its torso.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3546, 1.9999, 0.4274, 1.2541, -0.4915, -0.1646, 0.9971, 0.0383, 1.1259, 0.9928, -0.9871, 0.0814, -0.1242, 0.9953] state[eef_state]: left_x=0.4092 left_y=-0.0588 left_z=0.0365 left_yaw=0.1483 left_pitch=0.2995 left_roll=0.0125 left_gripper=0.9971 right_x=0.2646 right_y=-0.0006 right_z=0.1558 right_yaw=0.0362 right_pitch=-0.5351 right_roll=-0.1502 right_gripper=0.9953 state[joint_eff]: [0.0342, -5.135, 2.5368, 0.8523, 0.0024, 0.4078, -0.0073, -0.0615, -3.1521, 6.5299, 1.199, 0.0171, -0.0464, -0.0073] camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The light plush is now centered between the jaws. I will close around its torso."})
tool
executing move_to over 10 steps (1.0s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteThe fingers have closed on a narrow section of the plush. I will lift and retreat slightly to check whether it comes free with the gripper.
move_to
left_x0.3800left_z0.1500left_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3328, 2.0365, 0.4301, 1.253, -0.4599, -0.12, 0.0444, 0.038, 1.1259, 0.9924, -0.9974, 0.0814, -0.1242, 0.9953] state[eef_state]: left_x=0.4089 left_y=-0.0546 left_z=0.0221 left_yaw=0.1128 left_pitch=0.2624 left_roll=0.0639 left_gripper=0.0444 right_x=0.2622 right_y=-0.0008 right_z=0.1546 right_yaw=0.0358 right_pitch=-0.5458 right_roll=-0.1502 right_gripper=0.9953 state[joint_eff]: [0.0889, -7.0906, 2.359, 1.5507, 0.0317, -0.1929, 1.409, -0.0752, -3.0974, 6.3658, 1.1306, -0.0317, -0.0562, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_z":0.15,"left_pitch":0.2},"note":"The fingers have closed on a narrow section of the plush. I will lift and retreat slightly to check whether it comes free with the gripper."})
tool
executing move_to over 9 steps (0.9s)
step 185
top_cam
camera top_cam step 185
left_cam
camera left_cam step 185
right_cam
camera right_cam step 185
assistant
agent noteThe light plush moved with the gripper and is now off the table. I will carry it above the safe, keeping its dangling body clear of the rim.
move_to
left_x0.4300left_y-0.2900left_z0.2200left_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.363, 1.3289, 0.5045, 0.4095, -0.4686, -0.1658, 0.0532, 0.038, 1.1286, 0.9924, -1.013, 0.0814, -0.1242, 0.9953] state[eef_state]: left_x=0.3808 left_y=-0.0555 left_z=0.1376 left_yaw=0.1093 left_pitch=0.2104 left_roll=0.0506 left_gripper=0.0532 right_x=0.2588 right_y=-0.001 right_z=0.1523 right_yaw=0.0358 right_pitch=-0.5641 right_roll=-0.1503 right_gripper=0.9953 state[joint_eff]: [-0.4171, -5.4085, 9.0051, 1.8584, -0.2857, -0.0122, 1.0281, -0.2393, -3.3299, 6.6256, 1.2527, -0.0024, -0.0659, -0.0073] camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.29,"left_z":0.22,"left_pitch":0.2},"note":"The light plush moved with the gripper and is now off the table. I will carry it above the safe, keeping its dangling body clear of the rim."})
tool
executing move_to over 21 steps (2.1s)
step 206
top_cam
camera top_cam step 206
left_cam
camera left_cam step 206
right_cam
camera right_cam step 206
assistant
agent noteThe plush is above the open compartment next to the yellow object. I will lower it into the safe.
move_to
left_z0.0850
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8646, 1.8904, 1.4727, -0.2413, -0.8848, -0.5041, 0.0588, 0.038, 1.1297, 0.9924, -1.0176, 0.0814, -0.1242, 0.9953] state[eef_state]: left_x=0.4281 left_y=-0.2857 left_z=0.2068 left_yaw=0.0961 left_pitch=0.1798 left_roll=0.0544 left_gripper=0.0588 right_x=0.2578 right_y=-0.001 right_z=0.1516 right_yaw=0.0358 right_pitch=-0.5698 right_roll=-0.1503 right_gripper=0.9953 state[joint_eff]: [-0.6085, -10.5231, 8.8821, 1.2821, -0.569, -0.0024, 1.0379, -0.3761, -3.1932, 6.3795, 1.0427, 0.0024, -0.0562, -0.0073] camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.085},"note":"The plush is above the open compartment next to the yellow object. I will lower it into the safe."})
tool
executing move_to over 8 steps (0.8s)
step 214
top_cam
camera top_cam step 214
left_cam
camera left_cam step 214
right_cam
camera right_cam step 214
assistant
agent noteThe light plush is inside the red-lined safe. I will release it beside the yellow object.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8692, 2.0525, 1.2194, 0.12, -0.8799, -0.5087, 0.063, 0.038, 1.1297, 0.9924, -1.0233, 0.0814, -0.1242, 0.9954] state[eef_state]: left_x=0.4228 left_y=-0.2839 left_z=0.0857 left_yaw=0.0832 left_pitch=0.1462 left_roll=0.0932 left_gripper=0.063 right_x=0.2565 right_y=-0.001 right_z=0.151 right_yaw=0.0358 right_pitch=-0.5755 right_roll=-0.1503 right_gripper=0.9954 state[joint_eff]: [0.1709, -10.5368, 5.8598, 1.7998, -0.359, 0.0024, 1.0281, -0.1436, -3.0974, 6.3111, 1.0623, -0.0024, -0.0708, -0.0073] camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The light plush is inside the red-lined safe. I will release it beside the yellow object."})
tool
executing move_to over 10 steps (1.0s)
step 224
top_cam
camera top_cam step 224
left_cam
camera left_cam step 224
right_cam
camera right_cam step 224
assistant
agent noteTwo objects are now in the safe; the brown plush remains in front. I will lift clear of the rim and position the left gripper above the remaining plush.
move_to
left_x0.2600left_y-0.3400left_z0.1700left_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8692, 2.0747, 1.2034, 0.1116, -0.8799, -0.511, 0.9952, 0.038, 1.1316, 0.9924, -1.0321, 0.0814, -0.1242, 0.9954] state[eef_state]: left_x=0.4189 left_y=-0.2792 left_z=0.0687 left_yaw=0.0794 left_pitch=0.1193 left_roll=0.1293 left_gripper=0.9952 right_x=0.2546 right_y=-0.0011 right_z=0.1497 right_yaw=0.0358 right_pitch=-0.5862 right_roll=-0.1503 right_gripper=0.9954 state[joint_eff]: [-0.1573, -12.7521, 7.1863, 1.4872, -0.3736, -0.0513, -0.0269, -0.1846, -3.0701, 6.4205, 1.033, 0.0366, -0.0171, -0.0171] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.26,"left_y":-0.34,"left_z":0.17,"left_pitch":0.2},"note":"Two objects are now in the safe; the brown plush remains in front. I will lift clear of the rim and position the left gripper above the remaining plush."})
tool
executing move_to over 13 steps (1.3s)
step 237
top_cam
camera top_cam step 237
left_cam
camera left_cam step 237
right_cam
camera right_cam step 237
assistant
agent noteThe brown plush's torso is below the jaw column. I will lower the gripper around its middle with a small lateral correction.
move_to
left_x0.2600left_y-0.3200left_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.3037, 1.9488, 1.4384, -0.7471, -1.1416, -1.1213, 0.9963, 0.038, 1.1316, 0.9924, -1.0386, 0.0814, -0.1242, 0.9954] state[eef_state]: left_x=0.2652 left_y=-0.347 left_z=0.1536 left_yaw=0.0519 left_pitch=0.1674 left_roll=0.1205 left_gripper=0.9963 right_x=0.2531 right_y=-0.0012 right_z=0.1491 right_yaw=0.0358 right_pitch=-0.5927 right_roll=-0.1503 right_gripper=0.9954 state[joint_eff]: [-0.294, -10.3316, 8.0889, 0.7448, -0.7204, 0.0317, 0.1001, -0.1026, -2.9197, 6.4205, 1.033, -0.0171, -0.0611, -0.0171] camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.26,"left_y":-0.32,"left_z":0.025},"note":"The brown plush's torso is below the jaw column. I will lower the gripper around its middle with a small lateral correction."})
tool
executing move_to over 9 steps (0.9s)
step 246
assistant
agent noteThe brown plush's body is between the fingers. I will close the gripper to hold it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.3018, 2.085, 1.0904, -0.2951, -1.1339, -1.1076, 0.9965, 0.0383, 1.1316, 0.9924, -1.0389, 0.0814, -0.1242, 0.9953] state[eef_state]: left_x=0.2571 left_y=-0.3168 left_z=0.0302 left_yaw=0.0392 left_pitch=0.1521 left_roll=0.1632 left_gripper=0.9965 right_x=0.253 right_y=-0.0011 right_z=0.1491 right_yaw=0.0361 right_pitch=-0.5931 right_roll=-0.1503 right_gripper=0.9953 state[joint_eff]: [0.2667, -9.1692, 4.6838, 0.8523, -0.5592, -0.0171, 0.0073, -0.0615, -3.0701, 6.2974, 0.9597, -0.022, -0.022, -0.0171] camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The brown plush's body is between the fingers. I will close the gripper to hold it."})
tool
executing move_to over 10 steps (1.0s)
step 256
assistant
agent noteThe fingers closed empty in front of the plush's torso. I will reopen and move forward and slightly right to grasp the thicker body.
move_to
left_gripper1.0000left_x0.3000left_y-0.3400left_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.3018, 2.0991, 1.0805, -0.292, -1.1423, -1.1076, 0.019, 0.0383, 1.1316, 0.9924, -1.0389, 0.0814, -0.1242, 0.9953] state[eef_state]: left_x=0.2566 left_y=-0.3125 left_z=0.0244 left_yaw=0.038 left_pitch=0.1552 left_roll=0.1858 left_gripper=0.019 right_x=0.253 right_y=-0.0011 right_z=0.1491 right_yaw=0.0361 right_pitch=-0.5931 right_roll=-0.1503 right_gripper=0.9953 state[joint_eff]: [-0.1573, -11.0838, 5.5453, 0.652, -0.4762, -0.0073, 0.8816, -0.0342, -2.8786, 6.2974, 0.9451, 0.0317, -0.0562, -0.0073] camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0,"left_x":0.30,"left_y":-0.34,"left_z":0.03},"note":"The fingers closed empty in front of the plush's torso. I will reopen and move forward and slightly right to grasp the thicker body."})
tool
executing move_to over 10 steps (1.0s)
step 266
assistant
agent noteThe open fingers now straddle the brown plush's thicker torso. I will close for the corrected grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.2182, 2.1601, 1.1942, -0.2001, -1.1187, -0.9524, 0.9953, 0.0383, 1.1355, 0.9924, -1.055, 0.0814, -0.1242, 0.9954] state[eef_state]: left_x=0.2952 left_y=-0.3318 left_z=0.0289 left_yaw=0.052 left_pitch=0.1556 left_roll=0.1816 left_gripper=0.9953 right_x=0.2495 right_y=-0.0012 right_z=0.1467 right_yaw=0.0361 right_pitch=-0.6129 right_roll=-0.1504 right_gripper=0.9954 state[joint_eff]: [0.335, -9.7846, 7.2274, 0.9695, -0.5006, 0.2466, -0.1245, -0.0479, -3.3709, 6.5983, 1.0623, -0.0171, -0.0122, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 266): [image omitted: streamed camera frame] camera 'left_cam' (step 266): [image omitted: streamed camera frame] camera 'right_cam' (step 266): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The open fingers now straddle the brown plush's thicker torso. I will close for the corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 276
assistant
agent noteThe gripper closed narrowly on the soft plush. I will lift a short distance to verify whether that section is held.
move_to
left_z0.1100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.2171, 2.1677, 1.1976, -0.2012, -1.1339, -0.9543, 0.0361, 0.0383, 1.1351, 0.9813, -1.0573, 0.0814, -0.1242, 0.9954] state[eef_state]: left_x=0.2964 left_y=-0.3304 left_z=0.0289 left_yaw=0.0587 left_pitch=0.1676 left_roll=0.1892 left_gripper=0.0361 right_x=0.2467 right_y=-0.0013 right_z=0.1429 right_yaw=0.0361 right_pitch=-0.6259 right_roll=-0.1504 right_gripper=0.9954 state[joint_eff]: [-0.1846, -11.453, 4.6154, 0.8425, -0.3736, 0.0611, 1.0232, -0.0068, -3.9179, 6.2291, 1.0623, -0.0024, -0.0562, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 276): [image omitted: streamed camera frame] camera 'left_cam' (step 276): [image omitted: streamed camera frame] camera 'right_cam' (step 276): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.11},"note":"The gripper closed narrowly on the soft plush. I will lift a short distance to verify whether that section is held."})
tool
executing move_to over 6 steps (0.6s)
step 282
assistant
agent noteThe brown plush has lifted with the jaws. I will carry it above the safe with enough height for its dangling limbs to clear the front edge.
move_to
left_x0.4200left_y-0.2800left_z0.2300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.2179, 2.0453, 1.2713, -0.4297, -1.1191, -0.9699, 0.0371, 0.0383, 1.1221, 0.9588, -1.0569, 0.0814, -0.1242, 0.9954] state[eef_state]: left_x=0.2944 left_y=-0.329 left_z=0.0812 left_yaw=0.0565 left_pitch=0.1467 left_roll=0.2021 left_gripper=0.0371 right_x=0.2417 right_y=-0.0015 right_z=0.1382 right_yaw=0.0361 right_pitch=-0.635 right_roll=-0.1504 right_gripper=0.9954 state[joint_eff]: [-0.0205, -13.1897, 8.212, 0.8278, -0.6618, 0.0952, 1.033, -0.1983, -3.8632, 6.2427, 1.1306, 0.0122, -0.0611, -0.0171] camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.28,"left_z":0.23},"note":"The brown plush has lifted with the jaws. I will carry it above the safe with enough height for its dangling limbs to clear the front edge."})
tool
executing move_to over 10 steps (1.0s)
step 292
assistant
agent noteThe brown plush is over the safe's remaining space. I will lower it onto the other contents.
move_to
left_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8909, 1.9182, 1.5257, -0.4377, -0.9405, -0.5018, 0.0378, 0.038, 1.0977, 0.9272, -1.0496, 0.0814, -0.1242, 0.9954] state[eef_state]: left_x=0.4135 left_y=-0.2788 left_z=0.1935 left_yaw=0.0856 left_pitch=0.1136 left_roll=0.2207 left_gripper=0.0378 right_x=0.236 right_y=-0.0018 right_z=0.1335 right_yaw=0.0357 right_pitch=-0.635 right_roll=-0.1504 right_gripper=0.9954 state[joint_eff]: [0.1983, -13.1077, 9.5248, 1.3358, -0.4274, 0.2759, 1.033, -0.0889, -3.494, 6.3795, 1.1013, 0.0269, -0.0513, -0.0122] camera 'top_cam' (step 292): [image omitted: streamed camera frame] camera 'left_cam' (step 292): [image omitted: streamed camera frame] camera 'right_cam' (step 292): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.09},"note":"The brown plush is over the safe's remaining space. I will lower it onto the other contents."})
tool
executing move_to over 7 steps (0.7s)
step 299
assistant
agent noteThe brown plush is supported inside the safe. I will open the fingers to release it.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8906, 2.0315, 1.293, -0.1417, -0.9306, -0.5018, 0.0378, 0.038, 1.0733, 0.8955, -1.0382, 0.0814, -0.1242, 0.9953] state[eef_state]: left_x=0.4091 left_y=-0.2747 left_z=0.0927 left_yaw=0.0758 left_pitch=0.0792 left_roll=0.258 left_gripper=0.0378 right_x=0.2314 right_y=-0.002 right_z=0.1291 right_yaw=0.0357 right_pitch=-0.6309 right_roll=-0.1504 right_gripper=0.9953 state[joint_eff]: [-0.1162, -9.8256, 5.8325, 1.3993, -0.5104, -0.0562, 1.0379, -0.3487, -3.3026, 6.5162, 1.0672, -0.0317, -0.0464, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 299): [image omitted: streamed camera frame] camera 'left_cam' (step 299): [image omitted: streamed camera frame] camera 'right_cam' (step 299): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The brown plush is supported inside the safe. I will open the fingers to release it."})
tool
executing move_to over 10 steps (1.0s)
step 309
assistant
agent noteAll three objects are in the safe. I will lift the empty gripper to the upper edge of the upright lid so I can fold it down.
move_to
left_x0.5500left_y-0.2700left_z0.2900left_gripper0.0000left_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8906, 2.0499, 1.2778, -0.1425, -0.931, -0.5064, 0.9951, 0.038, 1.0523, 0.8692, -1.0321, 0.0814, -0.1242, 0.9953] state[eef_state]: left_x=0.4062 left_y=-0.2711 left_z=0.0794 left_yaw=0.0765 left_pitch=0.0607 left_roll=0.2825 left_gripper=0.9951 right_x=0.2269 right_y=-0.0022 right_z=0.1251 right_yaw=0.0357 right_pitch=-0.6301 right_roll=-0.1504 right_gripper=0.9953 state[joint_eff]: [-0.2393, -12.2598, 7.1043, 1.2479, -0.4371, -0.0024, 0.0806, -0.0752, -3.1248, 6.3248, 1.0818, 0.022, -0.0464, -0.0073] camera 'top_cam' (step 309): [image omitted: streamed camera frame] camera 'left_cam' (step 309): [image omitted: streamed camera frame] camera 'right_cam' (step 309): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.55,"left_y":-0.27,"left_z":0.29,"left_gripper":0.0,"left_pitch":0.3},"note":"All three objects are in the safe. I will lift the empty gripper to the upper edge of the upright lid so I can fold it down."})
tool
executing move_to over 14 steps (1.4s)
step 323
assistant
agent noteThe gripper is above the lid's upper edge. I will lower onto that edge to begin closing it.
move_to
left_x0.5600left_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6949, 2.2082, 2.08, -0.3187, -0.9016, -0.1223, 0.009, 0.0383, 1.0302, 0.8448, -1.0271, 0.0814, -0.1242, 0.9954] state[eef_state]: left_x=0.5442 left_y=-0.2686 left_z=0.2749 left_yaw=0.1059 left_pitch=0.2884 left_roll=0.2613 left_gripper=0.009 right_x=0.2225 right_y=-0.0023 right_z=0.1218 right_yaw=0.0361 right_pitch=-0.6274 right_roll=-0.1504 right_gripper=0.9954 state[joint_eff]: [0.3077, -12.588, 8.8137, 1.3944, -0.1197, 0.2759, 0.7448, -0.1162, -2.7966, 6.4068, 1.0769, 0.022, -0.0464, -0.0073] camera 'top_cam' (step 323): [image omitted: streamed camera frame] camera 'left_cam' (step 323): [image omitted: streamed camera frame] camera 'right_cam' (step 323): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.56,"left_z":0.2},"note":"The gripper is above the lid's upper edge. I will lower onto that edge to begin closing it."})
tool
executing move_to over 5 steps (0.5s)
step 328
assistant
agent noteThe closed fingers are at the lid edge. I will draw the edge toward the front and down to swing the lid over the compartment.
move_to
left_x0.4400left_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6804, 2.2501, 1.9091, -0.0952, -0.902, -0.1093, 0.0118, 0.038, 1.0115, 0.8242, -1.0229, 0.0814, -0.1242, 0.9954] state[eef_state]: left_x=0.5557 left_y=-0.2668 left_z=0.2163 left_yaw=0.1159 left_pitch=0.2941 left_roll=0.2663 left_gripper=0.0118 right_x=0.2188 right_y=-0.0025 right_z=0.1189 right_yaw=0.0357 right_pitch=-0.6251 right_roll=-0.1504 right_gripper=0.9954 state[joint_eff]: [0.5949, -11.7538, 5.7231, 1.3016, -0.0611, -0.0269, 0.5641, 0.0068, -2.7829, 6.188, 1.1062, -0.0171, -0.0562, -0.0171] camera 'top_cam' (step 328): [image omitted: streamed camera frame] camera 'left_cam' (step 328): [image omitted: streamed camera frame] camera 'right_cam' (step 328): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_z":0.13},"note":"The closed fingers are at the lid edge. I will draw the edge toward the front and down to swing the lid over the compartment."})
tool
executing move_to over 9 steps (0.9s)
step 337
assistant
agent noteThe lid did not move and the gripper remained blocked at its edge. I will lift clear rather than force that contact.
move_to
left_x0.5300left_z0.3200left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6792, 2.2555, 1.8957, -0.0376, -0.8982, -0.1093, 0.0141, 0.038, 0.9966, 0.8036, -1.018, 0.0814, -0.1242, 0.9954] state[eef_state]: left_x=0.5588 left_y=-0.2689 left_z=0.2169 left_yaw=0.1227 left_pitch=0.3201 left_roll=0.2359 left_gripper=0.0141 right_x=0.2154 right_y=-0.0026 right_z=0.1153 right_yaw=0.0357 right_pitch=-0.6259 right_roll=-0.1504 right_gripper=0.9954 state[joint_eff]: [0.1299, -12.1368, 5.9966, 1.4921, -0.0904, -0.0366, 0.232, -0.0068, -2.6735, 6.3385, 1.116, -0.0317, -0.0366, -0.0171] camera 'top_cam' (step 337): [image omitted: streamed camera frame] camera 'left_cam' (step 337): [image omitted: streamed camera frame] camera 'right_cam' (step 337): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.53,"left_z":0.32,"left_pitch":0.0},"note":"The lid did not move and the gripper remained blocked at its edge. I will lift clear rather than force that contact."})
tool
executing move_to over 11 steps (1.1s)
step 348
assistant
agent noteThe gripper is clear of the lid. I will position it farther behind the top edge so the next motion pushes the lid forward rather than catching its inner face.
move_to
left_x0.5900left_z0.2800left_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6792, 2.5038, 2.9059, -1.2037, -0.7742, -0.3599, 0.0164, 0.038, 0.9768, 0.7841, -1.0153, 0.0814, -0.1242, 0.9954] state[eef_state]: left_x=0.5239 left_y=-0.2596 left_z=0.2793 left_yaw=0.114 left_pitch=0.0195 left_roll=0.2456 left_gripper=0.0164 right_x=0.2117 right_y=-0.0028 right_z=0.1128 right_yaw=0.0357 right_pitch=-0.6228 right_roll=-0.1504 right_gripper=0.9954 state[joint_eff]: [0.294, -15.241, 8.0342, 1.4383, -0.3199, -0.0708, 0.2222, -0.0615, -2.359, 6.5299, 1.0867, 0.022, -0.0464, -0.0171] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 348): [image omitted: streamed camera frame] camera 'left_cam' (step 348): [image omitted: streamed camera frame] camera 'right_cam' (step 348): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.59,"left_z":0.28,"left_pitch":0.3},"note":"The gripper is clear of the lid. I will position it farther behind the top edge so the next motion pushes the lid forward rather than catching its inner face."})
tool
executing move_to over 10 steps (1.0s)
step 358
assistant
agent noteI could not complete the task safely. The objects were moved toward the safe, but the brown plush appears to remain across its front edge, and the lid is still open. The arm stopped tracking during attempts to reach and move the lid, so I stopped rather than force the contact.
give_up
hindsightSoft plush grasps can register only 0.04–0.06 gripper opening while still lifting the object; verify visually. The safe shifted during close approaches, so its initial placement coordinates became stale. An open finger can catch near the safe rim and prevent lifting; retreating toward the base while raising cleared that contact. The lid's upper edge was not reliably reachable with the left arm at approximately x=0.55, y=-0.27, z=0.22–0.29.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6792, 2.4966, 2.9574, -1.3067, -0.762, -0.3763, 0.0179, 0.038, 0.9611, 0.7662, -1.0145, 0.0814, -0.1238, 0.9954] state[eef_state]: left_x=0.5107 left_y=-0.251 left_z=0.2854 left_yaw=0.1144 left_pitch=-0.0157 left_roll=0.2571 left_gripper=0.0179 right_x=0.208 right_y=-0.0029 right_z=0.1097 right_yaw=0.0355 right_pitch=-0.6243 right_roll=-0.1503 right_gripper=0.9954 state[joint_eff]: [0.0205, -14.3248, 6.0513, 1.409, -0.3736, -0.0708, 0.1343, -0.0752, -1.9214, 6.2974, 1.0574, -0.0269, -0.0073, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 358): [image omitted: streamed camera frame] camera 'left_cam' (step 358): [image omitted: streamed camera frame] camera 'right_cam' (step 358): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not complete the task safely. The objects were moved toward the safe, but the brown plush appears to remain across its front edge, and the lid is still open. The arm stopped tracking during attempts to reach and move the lid, so I stopped rather than force the contact.","hindsight":"Soft plush grasps can register only 0.04–0.06 gripper opening while still lifting the object; verify visually. The safe shifted during close approaches, so its initial placement coordinates became stale. An open finger can catch near the safe rim and prevent lifting; retreating toward the base while raising cleared that contact. The lid's upper edge was not reliably reachable with the left arm at approximately x=0.55, y=-0.27, z=0.22–0.29."})
tool
give_up: I could not complete the task safely. The objects were moved toward the safe, but the brown plush appears to remain across its front edge, and the lid is still open. The arm stopped tracking during attempts to reach and move the lid, so I stopped rather than force the contact.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 10.06 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: Place all the objects into the safe, then close the safe.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7929, 0.6044, -0.3908, -0.0193, -0.0341, 0.9993, -0.0212, 0.7937, 0.6067, -0.403, -0.0204, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1782 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.292 right_y=0.001 right_z=0.1766 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.4291, 10.2085, 2.0, -0.0904, 0.1392, -0.0904, -0.335, -1.4701, 9.6479, 2.0879, -0.0464, -0.0562, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0102323cbc64abcabf3f76c994483f7c490d0b1e9348642a14298f29e3a271f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12fe28c06b0d6d45af911fc37c7d4651f7d03e05dda1942ac578214e04f4d3d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63dcbbe0a0ed6e05cd12c24e9befa4acaa17cdafb60422be6b1713d671a7da60",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /responses · status 200 · 7.262 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqssRMIwLdsUuAeuo0JteX_DSWiO81zDnTxdG9n0m5BFJ2AOkYpARy3gH2wq0A5mot4mNDXEmgKX71VecB_8FA2-8nUcS8zIsXXhMVWzXLDGo2q6aeztxKVMTKPwdPw1OYpKyMTWEdvck8SicGuE5qQ3no4iVkpDomT2vMEbI8K63z4GBWxJ4nMX_a6biJJ9D9GsNofplVydFA1TefcDie5lT88LobjdG36lE7dVqnPOAH2f-5leQMUWWO610hOUCfLK9vQ86jJEbOqwrXcB3ga-s1SA8rquqvOwwwrjyUeD1cQovrQqtXWZNZCd36cLxWsUCBcOALEh0k6cn_e-RdY9VuK0xDv_VAEA-BkPs6ErzVGHlNE4ABPYH0PVyOl1g_tOv-h3taZXpBjTU2MeQkh0RsQQ8S9P-AWEmstOx6l4MVDj8Gscc7EZmxEXdz9owevnquWnVzyLVAkCwYv9xfO2b3OS-VMk2iOui-dHTH85wv6ugiMr2YIaFdImQtgIi5DaQG54FqRsxwG5WgpSoQMqiH1gb2guJKX_YjdTGURj17xPJXccjEUtPHoafKjDG1aP207dFNC7bKNoNK8pYGn5lJGJv0tqHJHHIN9wJaS52GMvDRJPZWl90numZgOov0o3lewOKyqnyMcRiCPPZSetMRkBnXb-_ZzL5t3BqNoPSC0Q8oq52OOFS_mP-r4EtOOVqT9pklSzzR9CSkxQXxDPJHQ6-cLpineSGXjqGxgARr_67xsWrZsTg9lXh16e2RKI8qr-lJw0ePUbpomv0u4q-Gx8iOEWMdedbpn4Aw1cQQY6hSkDDWBev7RuiTYnUqAimcnK4Q00SeQsM_qlBZRAwpkJJS3nk7K6t75766vQe0AsfIchShrKLOGozpJcPLURGLcn_giYMoSUHrHaJl85b4J2HAVkScomSFSCWY4WjEr90nNvBucjTvKJQUnbuR-OGaONORx0TOqmqaDs8zZo0760qTOr4IxlZTLBvYI5_YPjGswIXaniENYCQxqJBVPChwHrLsG7DdhKDZL9gSxhxOn0E5q592wVa2vDkkRTp4LJOLyYnSIbu_GsmxeQDMMAKgi5agEVDzfeFCVYxbRwcSkl1T99Xb8XfwVl3d2Gcf2XmY2OflPTRuWQZG1flOXkO3gWKNqDQ32sLPBFU9FXcgobzO7AZ-PEX3hLRLRVPXTPpgHBUCIBtAvXxrwTDV-aRb7FLSmnIkyeqOEV8jRjGxZCaa1G_xrRb64Gf2naqy7MkuMj8biGJIKj9duR5v5euTg9qGXHbvduYJjWi9Xrmi03BmEsAbfyjnFTxPQZbSupGv496If4Wzu3HqXw88JYkFp6fiGNnstUEuSvb-MdIR_hF-aFvblGk6PV9WDbOCicxcVb3jS2N93yqBxubOmgzljTovXO3gHEz6exC-t1D0tHcOByUG_ZO6YIyMELo52FzwTOaFscfE9eSnS7BvKV5VW7mBR079NknZqgjGx6IlJbFlUbaO0XPWu7mKV_-BCbkGigua_Xs_RZBFDn6dEqPSPcykmMqfFV9bv26Q7Z8rScPRruAYVdM8E3q8j_-BItAwUZnah6JZjgA_Y5xn1pcZMRcUCv3lx2dbaCFSmMKjLkuw6oKst58GsNtG-hwm9WLOyjdjfwaEKbDnFtAEzzBreV4jkEpiWN8pP_QvlfRvJ9_a13mkeehZXyLCkC7vJnoTysEh6eAbX4hxKRXVWUPOYqPfN0fNkYanG4UgKKRVKpVNs3GpCjm5Cp3Uw3gndTk=",
  "id": "rs_04ddc73f3b8d8cde016ab2c444605487d08cdc2d5b5a75378b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.13,\"right_z\":0.15},\"note\":\"The open safe is in the middle, with a yellow object to its right and two plush objects in front and to its left. I am bringing the right gripper above the yellow object first.\"}",
  "call_id": "call_Lslja0hX9jH2A16pihQYjYvr",
  "id": "fc_04ddc73f3b8d8cde016ab2c44a595887d0b41630c4402601cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Lslja0hX9jH2A16pihQYjYvr",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7963, 0.6067, -0.4057, -0.0193, -0.0383, 0.9992, 0.411, 1.5379, 0.9245, -0.1043, 0.3046, 0.2081, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1753 left_yaw=0.0027 left_pitch=-0.016 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4103 right_y=0.1249 right_z=0.1271 right_yaw=0.0396 right_pitch=-0.0888 right_roll=-0.0385 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.5248, 6.8444, 1.8291, -0.0415, -0.0073, -0.022, 0.1436, -7.2137, 8.759, 2.0, 0.3443, 0.1832, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12be70c2459c2e4af46d918b08328692be0ae92dd4cf9f0c7da97ba859036a8e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daa65b013c1d23802c57225c7db8a4b42ba144502bb053ce729cf00bf49ad3f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec3e45dc9e2d194fe957377ed2356061ef91ec2606c8b093db186675ec1651ca",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 8.291 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7929, 0.6044, -0.3908, -0.0193, -0.0341, 0.9993, -0.0212, 0.7937, 0.6067, -0.403, -0.0204, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1782 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.292 right_y=0.001 right_z=0.1766 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.4291, 10.2085, 2.0, -0.0904, 0.1392, -0.0904, -0.335, -1.4701, 9.6479, 2.0879, -0.0464, -0.0562, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssRU_HrnueOWvVt5QfYTC7ZItvbfviV3rE5lLuTy_FoeUC47DCoc2Xxf5hJ7CqzIK23C1Q-H_e8MYx_CNTMjb09jARociRgLJa4Jf336umaLATUawAs2he4RrNYPN-QOU0lT383FGHU-cuyS93yHFOTBTpGacxhiOBqa_Df85BJWW98shdCepOjDeqeeJDBbgO4wYWHI87xd45TJBwNZARIpJk5wfcDFBGtULIG0SBYF4iheQh4BzmCZhjnCq0snt1GCOv3idopRNeU_pUUYLtOpFg4wwoooPChmcix6OqusZDFi-LGoHhMLLxMZhlDoz1TStgnn7yydALdxnbJqU7qOKIjoAROZO7PauxPQW5Uyqf7QzO6AI67_deWOGAfkd26UX7OmEVTCMQ35PYDQYByfKOdbrh-St8qpamrn1PdXrakyskon2tLl5YVIvkipYO0gfRP26nYQPe5gdBgAO0kWw-dX0eDIxk1PeOQCj2vIy7b_3Wu61NqnoiLyYIDIv7JFloMNheyS7c39tGHOxpjR5wh2PvsVgpm6jspaoxQJxC721b7Jrx2HJcY4QMy3M24B4O5dzzm9XBxjdeftBQkNUGKtI-NiMSfD9qXj-X-Yk8fke4dWlNiC6wyZfJ6N95q2n0mipidvxA-1rcYnONed8Wo5bA8eYdxive0asugRkSJHzPyE1wNLkH2Wefqc4U-CZ7p5z-KyJiKu489IlhB35omKh9OOio87RYMTcEMU8kAvtMlA8Yyi6tadJMghlW0AGj0ZY3Ld4Jx-uIkSACoNtWPjgjfht0CsoZNL3f4e6H-o5UNWPgUDJTSseJFfdm844SM1d0ftQEOWdl-WqgmuNWgIwBnbAt-HPpbuSR2HwME80itkW41DFchjZ_1mgzyCx3uhgJsRV8csnkcga7iKPUfi49xeEsX2Z2Ai85le122MmqMTIuJkJDnEbfn2cuW_03Cu7cWF1AQ_Tjldq_-Wu6lk6X3ypb5joLY9Shjwvw_HhtGJx91_q2MIF0UeDB1T1e9kWEC-a188EI-VWop_KKPTLnbg_3R4tv7GxnazjMtA7VbXkGr-h2ZdQ6mkgedtjehO7URJGbhTruw8ex_pAf3T47Z9LrvsbroP_6woZedr7NGL1k1IOB29zuXOsRIGP77_8CJOT6G4IZrB4dKB-qrwYVw6Hs2MuWBTe8UxykCtTFz6ou8Y0k0VNIhAcfo0F3MuaYM_ZXhwVtFYuV8Z8HPl4_xH5JRKLBA7kO4T3f7KuMHXymEojl61aSn5QeaWLnduU0onbeuHfmLuuPtVjTjwYwfRn1uuVOGEH_QdLfdLKTXoXDsr_z57eB6hW1m2_oyPq-_iVColbiq43kprTXd1dJhV3Ziy-yZRExEXl8Bc2-KC2gxeAY1QQLNPQE0gwCx_x8hIgQcHcEoIb8ylpESwH37f-fq66vu_BLni6_Lnoez-Ep487iMEKgZf2sY6XVrh9VqMzq5cqmlCwkfEXEj7UpLIKC5mnOh9Zs5zTQO5d3rGgeCd5wwxqUyPD42N",
  "id": "rs_04ddc73f3b8d8cde016ab2c44fe32c87d0917b4b89203b868d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.108,\"right_z\":0.025},\"note\":\"The yellow object is visible slightly right of the wrist-camera jaw column. I will center the jaws over it while lowering to grasp its sides.\"}",
  "call_id": "call_kO5JlHj1z0VFLZBGh5TZA8rH",
  "id": "fc_04ddc73f3b8d8cde016ab2c452b3d887d0b34f73a3d70d8f05",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kO5JlHj1z0VFLZBGh5TZA8rH",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4095, -0.0193, -0.0383, 0.9992, 0.3134, 1.8652, 0.8558, 0.2615, 0.2462, 0.1543, 0.9996]\nstate[eef_state]: left_x=0.2913 left_y=0.0015 left_z=0.1742 left_yaw=0.0027 left_pitch=-0.021 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4449 right_y=0.1027 right_z=0.0252 right_yaw=0.0184 right_pitch=-0.1313 right_roll=-0.0527 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -1.3333, 7.0085, 1.7167, -0.0708, -0.022, -0.0122, -0.0479, -7.4462, 6.1744, 1.2137, 0.022, -0.2076, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca20d5f6cd06346a8db57b816e1ca7d90cba5f743ce9df1bf1b5841a0a17a581",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbb96a85f1e8a1114b7cf3c3ac859383b9f8a47af0aa519d98908054592ef4c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89aa983f285e9a3ec33fc3017f23bb1f412f6fd92e6bc42a35f21967b4f92311",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 4.303 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 6 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7963, 0.6067, -0.4057, -0.0193, -0.0383, 0.9992, 0.411, 1.5379, 0.9245, -0.1043, 0.3046, 0.2081, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1753 left_yaw=0.0027 left_pitch=-0.016 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4103 right_y=0.1249 right_z=0.1271 right_yaw=0.0396 right_pitch=-0.0888 right_roll=-0.0385 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.5248, 6.8444, 1.8291, -0.0415, -0.0073, -0.022, 0.1436, -7.2137, 8.759, 2.0, 0.3443, 0.1832, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssRdrD0ue8ecnppeLJiF2Qo2EU1hBMqO0y5v6miUzk0fQ_aCVhFeKjoSkVsOCxry8hOaYIz_rjIBC_b84tcZuGHRPRwu_fE0TMZ7iozOUfG_k7CiIuJESgHrj2fhQjJZDjruFof-4JbM6yFWzYvCrmYlcI5a1SKrLFGNq1DGg5-bYjNyj41ta4lp--X2dnWGsXtGV2nLVekvRUI3DxEecFlcRWM6jbppVUSwlhCJ1n-Qr_U4FQyOETXeWSj6y-Jak_osR-iJN-6Uz9bW5Q98ZFBRitT2nFoC9nViYxVacsYVc6yLmgWSUXjSWS8bQN_jcZlMc_dC71hvHmBPDQhqAk1eiqHkAcP05iFofP22coaXWeaEYWFfTVHkj7VQ3uuD5eBVUuVgSBGA_da-xhpICyJvq9ZIvnFtForn95C_wuVfDmSiziivWpOWJ_BUEvNs-fO7c9ccE-fxmLnHAwfm-IGVCp3ZZCESUzGtqyI5FYodIPqZ7nDcJPJ-mroVzHs46uNkk5NQrJdgLPqPlYPD1-Trpe0R5ekBvYUiEis9wlvmdYEh7lZ6W3U0mZUwGF6XfKOnIV_xSOTlGf0xubfH67lrnRcyPAa2V0MzWvLpRhK2DXY3IRr8UfyRFnN2UjYWvyNR_fNIElS1m_k4Wviahv8TXBbQuE-tCo9TtgKGYTnA3kgaAdw_c7eL4r56TYWQkB643uDSt8QzyTdcpnxtmW2rq2LvxLWVGsyFgrtaNzOK_iV7PbN5gvt-viU_uTb5YR0cmJsbc5fRMRE-oLmB2YS4XtPwXnlRlCeoaQRPYYXFZOiEnUn6xCX5A0VahICfhxyb4YvbJldXwyk4r8Mz57aj63RuwvpkRRkgkBzOcaMBzCC-r35HHCWSTd1BMTTDj286g2P7zVT-_qQdLSvUxaK7p59K3KATpWihEF9BS46KyybmtSaEMT97dYvfRiDFwNtvLur_e-9ExjNnf6FgoBtVGWzUZ1tOsWaJEaogBB1D1awCCLdk8OVQrUryonqIeEABSBWGyNWvVxjw0840qoNEAX2QUkI0JjqNBU6BYoXjoqAncXi3ITgtMIVpBTEVWTro9nXEZH0yOi06kMje4Ji_eINHI3uOhXQM8ngjN4tZGFL-A6Le_pZiacZVFfeIQaAzkKCsH-vKV4LW5dbMZIppf4JJ6_YgXf4rXuZOfRFssV_yrsDIQCsQbmKbZ-2RmQXQ-XJkG6Xv2F28VspE_UWqH6NfT5BG41HjsTLxOVRxnpfxUdPJ1OWIbnwdWpSgOn3HADfLj1n6s3RXKZ72IToBknPIa9cBHOTTao8cBjfC2hnN3Yy_qfI7b-d0-V6jEB6vIOMOCz6vG2l-Si_u-M5kZSaAGzZsXyc-9lAur4xGnW0XqrBEJsR0UPGawf_geRWyAeTazdcYKyzoCCCcYVRYwplyAXI8fbPnF6nK_DfG-vuFWLDMlz3PpuE_pfNlQbEB",
  "id": "rs_04ddc73f3b8d8cde016ab2c45928d087d0ab0c2a66024fc057",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.097,\"right_z\":0.014},\"note\":\"The yellow object is centered laterally but still appears ahead of the fingertips. I am advancing a few centimeters at low height so the jaws can surround it.\"}",
  "call_id": "call_5e88IXWSpKO9e14BdVNzReeH",
  "id": "fc_04ddc73f3b8d8cde016ab2c45bd7d887d0af97de8e96174b8b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5e88IXWSpKO9e14BdVNzReeH",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4274, -0.0189, -0.0387, 0.9992, 0.2657, 1.9987, 0.9916, 0.2405, 0.2077, 0.1226, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1703 left_yaw=0.0026 left_pitch=-0.04 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4778 right_y=0.096 right_z=0.0088 right_yaw=0.0194 right_pitch=-0.1572 right_roll=-0.0557 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -1.3197, 7.0222, 1.8681, -0.022, -0.0513, -0.0122, -0.6359, -9.0598, 7.1726, 1.6923, 0.1099, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6baf00b5f6115d7c0012be880b138036c2e40a3464ac774f145dd4666a44b417",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2cdafe47a7dfc4024730a789e0e551d8253c10709796ac9b8ef45942241ad54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fefc530a6e58e7b1407c391b146c634e327964cb1dd90dbe6987d4310509356",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 5.639 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4095, -0.0193, -0.0383, 0.9992, 0.3134, 1.8652, 0.8558, 0.2615, 0.2462, 0.1543, 0.9996]\nstate[eef_state]: left_x=0.2913 left_y=0.0015 left_z=0.1742 left_yaw=0.0027 left_pitch=-0.021 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4449 right_y=0.1027 right_z=0.0252 right_yaw=0.0184 right_pitch=-0.1313 right_roll=-0.0527 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -1.3333, 7.0085, 1.7167, -0.0708, -0.022, -0.0122, -0.0479, -7.4462, 6.1744, 1.2137, 0.022, -0.2076, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssRiE8kG6S_XCOgirnH0VePdNwDu2ZDNDsCvhlI37tB1LXCy6wuHXIFcBOLxmD-PxWRfX0KdPJCQkd-2B6I8GPDRH9qBr_YHOG3jaq6RQaI9nwKGgOS3tz4rWbxc6K7cvZ0vL8XlZlDmCJK3uQbS640HRpPV7qE0h9JRM6JAQSHV5EW3Xvk0dqkOYpGaS5otRB4bt3C8B6rycGetpM2ghCf4j7K3-7L5kRyZJJ9dZELtXi15gaaSgvHFmIvf9M7YW26V44OBivwIVPwriRZjGV5oB2sl5WgX60YIKRnIIWRh8A8HFvEXwFksfuRgBpk7DvSGXtOvlSi0rb5DVAY49zctOaRiS42e8RgEZvzQ4LqYwS0bIEe0J7S9S2yu1uhF7_k_isxm6M-E5-NP8FD9FRPg4b_RWWlU-ZF8UO6-Oo-Bn7NsP3RHpwoNd_QUxjlYDOjF3PdE9nl0SOagIayW4NYcM2f4UeolJLrkRteJ9_I2WoLgH10FPb28eL4UBVDsvFzWTRcSLXPGnWSLnCVdINsns5cdkoQqK16Y-SSZICxCTbK0PadPlRnraQBnynzujHUtTcKNAj04003JRjTWWkcZTp4OcU312pybBbIFAsBQVQ_v-CGrYGgmaBMcCKZJv3SeP-X6BtJw3aE6jb55Zvo470YrRj3j42XWOJdTsA5LpBmPe6LI4IRZALEYDlQ-1tviMC4hlf4lpFsVr0w4bDFmXcgbaCQC4f3PEMZSA04exZWYi6r0Ok8w0q5hCn7B3btsp4kXT_6kn_GDcO6yd-J0KZGAoe9XgporsJiOLFseRq7JroMxcWT1QGDuyaSYUrEYgZCzzKNIchWdT8r9Re810549vRrHkbzKiE73hWbzcNpPYpU6_sPok-bX5CEvm0sf7H5aCeih3JCbFAvYuLdJSEMqujQ4lof6DFy-5xlmULp_7wCJTmC9O8trAnxBQXUslM4Aer2Y2Rx9Pfz01x0zXbxPEtpAx9ouAtNivvp2IaqsJnaFF-vo85texn5WY6cVlKCgYpUS5kfYXFcxc5M0BAH_1VMrHBhNgDYjdEWWRrIT4REh3k9rAbJnW0lHcd9rCdoPCtquqASgBlBqsHOYzYa7FeoO6bYb5Xv0Vw-LqwSu1CwsnLBhV5pORwmflTbAxwMuDK3BIeh_eviRSVgtK3zEFX9OAg6mw3dUR9kwB0AIw6KE5fqEL88LQH_pLZmDQM__7MztLanVLY5-TQ9I1A==",
  "id": "rs_04ddc73f3b8d8cde016ab2c460800c87d0b88b4f382947a09d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The yellow object now extends between the fingertips. I will close the gripper to secure it.\"}",
  "call_id": "call_VxQ207KhhChy3I55q78etziH",
  "id": "fc_04ddc73f3b8d8cde016ab2c4611cb487d0b180d8912140773e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VxQ207KhhChy3I55q78etziH",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.2623, 2.0121, 0.9966, 0.2417, 0.2012, 0.1162, 0.4968]\nstate[eef_state]: left_x=0.2877 left_y=0.0016 left_z=0.1687 left_yaw=0.0029 left_pitch=-0.048 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4785 right_y=0.0956 right_z=0.0044 right_yaw=0.0247 right_pitch=-0.1655 right_roll=-0.0579 right_gripper=0.4968\nstate[joint_eff]: [-0.0205, -1.2376, 7.159, 1.8095, -0.0659, -0.0171, -0.0171, 0.1573, -11.1248, 5.2034, 1.4969, 0.0806, 0.0171, 1.0134]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ef19d7cde7f96465fbe2fb55d529b9e4b2c3428f402ce62e11b015cfeff7aa2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3eb0a659eb65d0a1709fa496621f79445e458dfc5be3da867cd5c4533b72fcf2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a57b798509cd6dd4a07bbe5d673b474f026e37f119b2392d3ce7d290e3887d2f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /responses · status 200 · 5.547 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 14 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4274, -0.0189, -0.0387, 0.9992, 0.2657, 1.9987, 0.9916, 0.2405, 0.2077, 0.1226, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1703 left_yaw=0.0026 left_pitch=-0.04 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4778 right_y=0.096 right_z=0.0088 right_yaw=0.0194 right_pitch=-0.1572 right_roll=-0.0557 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -1.3197, 7.0222, 1.8681, -0.022, -0.0513, -0.0122, -0.6359, -9.0598, 7.1726, 1.6923, 0.1099, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.09,\"left_z\":0.18},\"note\":\"The gripper has stopped at about half its opening, consistent with holding the yellow object. I will lift it slightly to verify the grasp before carrying it into the safe.\"}",
  "call_id": "call_r9JhgO41f1AhLKZI5E7bvhLa",
  "id": "fc_04ddc73f3b8d8cde016ab2c4663b1087d0b72240c36804394e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_r9JhgO41f1AhLKZI5E7bvhLa",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7998, 0.6144, -0.482, -0.0189, -0.0387, 0.9992, 0.2623, 1.8587, 1.0966, -0.0574, 0.197, 0.1116, 0.4993]\nstate[eef_state]: left_x=0.2818 left_y=0.0016 left_z=0.1626 left_yaw=0.0027 left_pitch=-0.0881 left_roll=-0.0021 left_gripper=0.9992 right_x=0.4714 right_y=0.0944 right_z=0.0617 right_yaw=0.0288 right_pitch=-0.2109 right_roll=-0.0691 right_gripper=0.4993\nstate[joint_eff]: [-0.335, -0.759, 10.3726, 1.7802, -0.022, -0.0317, -0.0122, -0.1299, -11.412, 8.9915, 1.7265, 0.1245, 0.0269, 0.2515]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d02e312fe28e24ba89b39088ece6461a1eb49fe9ace6d8fcbebbf683822d50fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f86eb9f3577098a06bf5dccd0b38a100cd8bbda4ceef3fcab93f90bf6362ee0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3190b3baf95f692ff90864c5ec0216ee7bd68ff79674b7081ba5a55ff05ca96",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 3.65 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 18 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.2623, 2.0121, 0.9966, 0.2417, 0.2012, 0.1162, 0.4968]\nstate[eef_state]: left_x=0.2877 left_y=0.0016 left_z=0.1687 left_yaw=0.0029 left_pitch=-0.048 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4785 right_y=0.0956 right_z=0.0044 right_yaw=0.0247 right_pitch=-0.1655 right_roll=-0.0579 right_gripper=0.4968\nstate[joint_eff]: [-0.0205, -1.2376, 7.159, 1.8095, -0.0659, -0.0171, -0.0171, 0.1573, -11.1248, 5.2034, 1.4969, 0.0806, 0.0171, 1.0134]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssRuX6T7VjyjfU8THMTC3k3dw0UzKFsxwGlC9agXZdqmU6CRq7NerIYOvGJU0FwAETEimz6B8PAVcR92E2guDfa_5iSveaxi7g06rMOCQDoMjCgNz1BONP3s7ox5qjZQl6-M7c_g2DXNLbo5e2Zw2fF1yn0VduynOWN7Hg1fGWU6P16VBL4yDZNo_GVo-Syizw3HVHbl8ZhzMOhFkY8oGDnvgW7cz92al6cshk4W6Bya91BNL5qpzLyCO7zp0d1pOUwvaB4C87ezMzzjxVLKkfmu1FBhmT6U27wslPNus680rqczwf1qS24Q3VPTwbx-Tf2DraLVeBvSKZE6iPUbCIrkTdUEnUkEK5R1iJiOTFewWwTli7MSefuKZVr6n_WIT4lX8K2l1qXj_TRCta1ti0RZ2-Jqzpyw0k2HmaodB9fktv8cIJsXNGE8JENJYszoYTSVlIq1C4U1xre7vfYN9sM3kQY3TcIRQgw4VoSRC0cJvkOHSyfKWcpFKuyI2EOGUVFLC2ZQo1jZMLgOVYQGsBaojFtER57l6b-V2eurh9o1LJuxh2yPBYwzx7cyEE9nygh-FuCsqeQjiUq2ddUv-L49tHfIUldNt25p_197EDz50xmFu4hHUYsyhoQwX_tHeefX_JmZPtqf14D65g80qCsNDcuLvVAl0kWU3iHtet206Iy7CNtSd2coWCZUczvpcBLO7rMhDwPZhAoXr8qdGfuR3pG948ehKYBvF_ezeTUCrJsu4cVun_v_pGsqyR_a1P7atd7CXnmxL8q9ueu8SkmXpPpQRy4rQKBUTaDcgJUIwqJy9RjELzrrpcLAgVzZUmROECa8uLOSm7zXZEFxwznYQX-VfrN1HuuXvxoO4o7EIdOV4AkDeTjfpNeyDhRC_ZeT-NetjiQ4pLCZ01C_N_0FnSap4kxyAAVYXiJUNzDQj5Dd2T_nl2C-qfE_vnLcsBQzT1Sb480Efytzk2gcVhwL6Q8SJN2y8U7-0U8X9-bZNsmNfeUFzhLoal4T5F1JyAUscjmpHxb2bOSxv55N_YQ9OKTF-NygNq1wI4udzsphMFzRcd2QB3jcCKJOcHvrPRvbins6PAEJaJG7i-lxcDCTUhKbzV4M3j5KpsATHfde_huqLkgrBupM87QkYpV9t-TV_wgB-xKZ5KLc9rGh8JAH0vs0MPhOKHWhgmnubNhmj4htzdcfc0qAH_Ufm_KXZG9lw2U7s_lSy-CHedqAeQQIvU6ylII56TIRIQmHXIqiy8S1Rc4m9HhKsoGU2eKxXMzc6FMsD4bZVaHD_tl19uAXu2tjjGGZAKtuGoSXVhGNgVE=",
  "id": "rs_04ddc73f3b8d8cde016ab2c46b8e5087d096aec0ed07e14aaa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.28,\"right_z\":0.19},\"note\":\"The yellow object has lifted with the gripper. I will carry it up and left over the open compartment, clearing the safe's rim.\"}",
  "call_id": "call_jTK7SnqAONL5dnQDG9f50hZA",
  "id": "fc_04ddc73f3b8d8cde016ab2c46d042087d09181ae4605504819",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jTK7SnqAONL5dnQDG9f50hZA",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8036, 0.6197, -0.5018, -0.0193, -0.0422, 0.9992, 0.6971, 2.0251, 1.8534, -0.7731, 0.4511, 0.432, 0.5015]\nstate[eef_state]: left_x=0.2797 left_y=0.0017 left_z=0.1602 left_yaw=0.0049 left_pitch=-0.1064 left_roll=-0.0042 left_gripper=0.9992 right_x=0.4471 right_y=0.2787 right_z=0.181 right_yaw=0.0664 right_pitch=-0.2296 right_roll=-0.079 right_gripper=0.5015\nstate[joint_eff]: [-0.212, -1.4838, 6.7487, 1.7998, -0.0562, -0.0269, -0.0122, 0.212, -10.6188, 8.5402, 1.2576, 0.3101, 0.188, 0.2173]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:698508458b430eb84ea88a3869a2d68bb3c49d09376e75cac8a6462d839424b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:842f97eb8e4b9d3a041b57a5c6ee87a595f96ccbddad264fbf387bbdf689b279",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10a6356d6290f17d2b5e7e2b8889e15a08740bce240f444747ed5f3a48ceac1c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 4.205 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 21 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7998, 0.6144, -0.482, -0.0189, -0.0387, 0.9992, 0.2623, 1.8587, 1.0966, -0.0574, 0.197, 0.1116, 0.4993]\nstate[eef_state]: left_x=0.2818 left_y=0.0016 left_z=0.1626 left_yaw=0.0027 left_pitch=-0.0881 left_roll=-0.0021 left_gripper=0.9992 right_x=0.4714 right_y=0.0944 right_z=0.0617 right_yaw=0.0288 right_pitch=-0.2109 right_roll=-0.0691 right_gripper=0.4993\nstate[joint_eff]: [-0.335, -0.759, 10.3726, 1.7802, -0.022, -0.0317, -0.0122, -0.1299, -11.412, 8.9915, 1.7265, 0.1245, 0.0269, 0.2515]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.065},\"note\":\"The yellow object is above the safe's red-lined compartment. I will lower it inside before opening the gripper.\"}",
  "call_id": "call_e6UyYjFU7DuGfzSfFhQg4NP5",
  "id": "fc_04ddc73f3b8d8cde016ab2c472bd8087d0bc972a2c7945eca3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_e6UyYjFU7DuGfzSfFhQg4NP5",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6197, -0.5175, -0.0189, -0.0422, 0.9992, 0.6991, 2.0727, 1.4986, -0.4213, 0.4484, 0.4301, 0.5031]\nstate[eef_state]: left_x=0.2773 left_y=0.0017 left_z=0.1571 left_yaw=0.0046 left_pitch=-0.1224 left_roll=-0.004 left_gripper=0.9992 right_x=0.4374 right_y=0.2723 right_z=0.0685 right_yaw=0.0637 right_pitch=-0.2719 right_roll=-0.1094 right_gripper=0.5031\nstate[joint_eff]: [-0.1436, -1.0735, 6.9128, 1.746, -0.0611, -0.0562, -0.0122, -0.3214, -10.2359, 6.5573, 1.536, 0.1587, -0.0269, 0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0a07641a868f33c45691dfe9ce3f98f351153f9ec6d5ded24917f6bf0b4ae95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05677479b0acae74636332a3309b6655e18de6604ff6a2d0d50ee18f1d51cf20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dd23a610c51d0c82c9d3b17f0d9f1c335e68b170c5cbef690c9f86ec5fd9287",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 6.356 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8036, 0.6197, -0.5018, -0.0193, -0.0422, 0.9992, 0.6971, 2.0251, 1.8534, -0.7731, 0.4511, 0.432, 0.5015]\nstate[eef_state]: left_x=0.2797 left_y=0.0017 left_z=0.1602 left_yaw=0.0049 left_pitch=-0.1064 left_roll=-0.0042 left_gripper=0.9992 right_x=0.4471 right_y=0.2787 right_z=0.181 right_yaw=0.0664 right_pitch=-0.2296 right_roll=-0.079 right_gripper=0.5015\nstate[joint_eff]: [-0.212, -1.4838, 6.7487, 1.7998, -0.0562, -0.0269, -0.0122, 0.212, -10.6188, 8.5402, 1.2576, 0.3101, 0.188, 0.2173]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The yellow object is inside the compartment and close to its floor. I will release it there.\"}",
  "call_id": "call_l84VfTviMlOm8RRMwjBJ3h9j",
  "id": "fc_04ddc73f3b8d8cde016ab2c477ddb487d089bd5475bf526520",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_l84VfTviMlOm8RRMwjBJ3h9j",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6197, -0.5201, -0.0193, -0.0422, 0.9992, 0.6991, 2.0979, 1.4807, -0.4286, 0.4446, 0.4252, 0.9943]\nstate[eef_state]: left_x=0.2768 left_y=0.0018 left_z=0.1566 left_yaw=0.005 left_pitch=-0.1251 left_roll=-0.0037 left_gripper=0.9992 right_x=0.4311 right_y=0.2679 right_z=0.0488 right_yaw=0.0603 right_pitch=-0.3147 right_roll=-0.1413 right_gripper=0.9943\nstate[joint_eff]: [-0.294, -1.2103, 6.9128, 1.663, -0.0757, -0.022, -0.0122, -0.3487, -13.6137, 7.6239, 1.2625, 0.1832, 0.0317, 0.0366]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ea75f60805a4a83b41830fb436286c9548eede60fdf68e38c9d248b413d4b37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89fee43479b33be36cb77fae03a721479355338a5653bc79a74aa50e528fcb15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97bddbcfa1c54d1feed9f5996654f6a73c7b620d60cbd2a346174353e1156fc1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 6.158 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6197, -0.5175, -0.0189, -0.0422, 0.9992, 0.6991, 2.0727, 1.4986, -0.4213, 0.4484, 0.4301, 0.5031]\nstate[eef_state]: left_x=0.2773 left_y=0.0017 left_z=0.1571 left_yaw=0.0046 left_pitch=-0.1224 left_roll=-0.004 left_gripper=0.9992 right_x=0.4374 right_y=0.2723 right_z=0.0685 right_yaw=0.0637 right_pitch=-0.2719 right_roll=-0.1094 right_gripper=0.5031\nstate[joint_eff]: [-0.1436, -1.0735, 6.9128, 1.746, -0.0611, -0.0562, -0.0122, -0.3214, -10.2359, 6.5573, 1.536, 0.1587, -0.0269, 0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssR_dEoeFPgbLruiCE8WbZ7n7I_TD0atOBLhWbVErYbZ-k2XhL5qWdGZWVdcbAAB43uhBzS0Qg3orxBBxCIC9CaH1-BuBd6pQNj62WatPKwIJdzVbZWM37Z7_P6rqenJvcOcnLLgDhB611IfsDEFIC5xPzZOJQ7UzDAZks0GADRFyXKSfi_7sHVqNb34Cv8zSVAMIJ6WUonj46td1_foP34JS9DuOWNz5zHSOfMGjRPqtVw0L4WBSBjjd9GumAvBFtLuDQSS0skdlvFSH31HmqgivAvDvheiS0BcAO9duCyTzQQOHLryMbpus049OSZiHEgr48EodK8Sr_fxvLfbkl6VMuoJ3tKDwvy5WRq2SsrqPfMX999GjBZ9rq6HEo-gCzotJR5T4HzLM3W_rautWJiUAaIJaIlhP33WRK25ZUpuGIfTK0jr2MBMK7YBnlna-HvYUpCdSMwJwAuGbUouycYMAryiXpXvw2gMWa1hwKSlAgPYTIzVzreb23aIxEDF4EcgOl12b4N7fN6zAD78oKOu7SzOhqCijAg048KbZu4J4HjtH8tPvwkUOXdKhjnB2J_FrLidf10Iih2tpz7GQ7yK2Qpy4u3vNsx_8g1RQ6-v440BqlzboKq6g40GZVau6TJ3uuQXFgcdD87aGPUJJ6I-T5s5LFSgdZsgL2SlO1PC7DBPkVqGlex3Rz8yFlCTEQMN--S0SPZoVwLEcdQwYw8aa-IIlQ2-0VhNsOLqWui5GvpOo-vKQgy9bhSrNp9mzkEAZbyqZqusd-77A47-8hFZd1KC9XP_N5zVpUuS7RYLL-T5Zmx_e1aUp5DK0bZ1l6aAVaMbu14RN-Scc5nWrE0CVo1emxKgNTtFnHy6iO9EYJ6h4aakcn-VfIl2ShBLXdGudv40nq8HJL8J6ys5gkDiLhuxkrkba42aroiHC8oPCzjruRx32ZS77YOzTEB3cgAEZKlp_7Z402fH4V56D3vkNUiMvV8754BDuzINRN6uHe4xdqjmCrDuB2caQMedqIxEijKTszJQQJV3bw2VP1YG2D-GqH0wBBXQDLSu94f0IPHWmZZr3mbHviKweJvqNqs0M1P0DNRhRn9PqcaercWCw9xKtn1djC_DGvCzt9cXSSFxcM1w9JC_-GmoYDducldWoMLI1p8Epsg0UAzN1VQaGOrXH_Dh2RtJq7Rpz_R_VCAjAdK5er9Vqd98FijAXFPtofsDoK6on-yM6Vh88RbraqCz-XMoxjvqupUpkYZsJl93uJXufMlst5dPPF3KSv0ZM5sW2_-2ScMYv1-bqlZo-mpwFX1thMAx2h8DboVeP2L_4MqdU4dJTLWDx3N9NiJrHqQ8TODq94Y62R9xFgha945RR9E83PBYlK0jmhVQQETQqUTqT7hMS6Nr6g0cvLPJ",
  "id": "rs_04ddc73f3b8d8cde016ab2c47b9d6887d092d9db190dbac471",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.30,\"right_y\":0.0,\"right_z\":0.20,\"left_x\":0.395,\"left_y\":-0.22,\"left_z\":0.15},\"note\":\"The yellow object is resting in the safe. I will withdraw the right arm and bring the left gripper over the light-colored plush beside the safe.\"}",
  "call_id": "call_9CsWv1ZbMVjZU3IDf8LN7KRv",
  "id": "fc_04ddc73f3b8d8cde016ab2c47d87cc87d0b1abef57c452a471",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9CsWv1ZbMVjZU3IDf8LN7KRv",
  "output": "executing move_to over 23 steps (2.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7059, 1.668, 1.1656, -0.3923, -0.5037, -0.5407, 0.9992, 0.0376, 1.1137, 0.9989, -0.8261, 0.0895, -0.1017, 0.9952]\nstate[eef_state]: left_x=0.3848 left_y=-0.2113 left_z=0.1342 left_yaw=-0.0001 left_pitch=-0.1731 left_roll=0.016 left_gripper=0.9992 right_x=0.2989 right_y=-0.001 right_z=0.1818 right_yaw=0.0153 right_pitch=-0.354 right_roll=-0.1426 right_gripper=0.9952\nstate[joint_eff]: [-0.5675, -8.0752, 8.841, 1.5458, -0.4713, 0.0269, -0.0122, -0.1299, -4.1504, 9.8667, 1.6337, -0.1148, -0.0513, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:061bda1671254f9853387c5bf444e8dadbd5b18c61406f0959efd3a5c724adb6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01e6924dfaf829a6c40a53a4d035a9b9a69e4eeb90f0b98ca7812ba28bc37432",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b77cfd927d8713dc10eb3707ff02b2e43020e712d3fd9d63330ab48f92627e4f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 5.88 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6197, -0.5201, -0.0193, -0.0422, 0.9992, 0.6991, 2.0979, 1.4807, -0.4286, 0.4446, 0.4252, 0.9943]\nstate[eef_state]: left_x=0.2768 left_y=0.0018 left_z=0.1566 left_yaw=0.005 left_pitch=-0.1251 left_roll=-0.0037 left_gripper=0.9992 right_x=0.4311 right_y=0.2679 right_z=0.0488 right_yaw=0.0603 right_pitch=-0.3147 right_roll=-0.1413 right_gripper=0.9943\nstate[joint_eff]: [-0.294, -1.2103, 6.9128, 1.663, -0.0757, -0.022, -0.0122, -0.3487, -13.6137, 7.6239, 1.2625, 0.1832, 0.0317, 0.0366]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssSIXJAan3X136pVRFKLoog0UX54ZYY0mCH-KLvbmTLvM_a82TNx6UyQh4K_9jvBRQwE25kV_s0AHx7N33pNM-Y10Z6gjmTGGle5B7fipdjUd4WKsLFTkjUQvKSX7Gh8utieRpo_0ZsNPCknbDXg7T4Hxnh_2TFuaMo9HgG4Y3z9oQKf-hXuLiGxUqFEJOFeshmDDhba3Ojl0APkCfWyYbjSyNn5NnwzCaE242_3Z-efCl5al342tT483WkRHwQyr3AbNj8A6IA1GFcVPVYm8gT10OhEvBPa6vSl2Z9SVJq2VHo040YOUbBbDDNsQbCz_ewnPMRt4ot_R3z4vVgctf00H_K9tETZgBHHu31oS7i8n31q13IdrtBWqlXhV6ivNJWZAzptMxizpsvLn4aaJaoabC5cW4IpdEK6HBHEzwEQWGZVMP5pkuNe6sW-Mov9IniY4T0ojIhZwYcII2EvMR4NiNsiZOmnQ97c0Tvlg2kP9i86gn9TWf_SUH_0tPstgpC1i3Eh5pFcnREKT7cEgV-lOaD8jjfVq7VL4yaPsUavHlynpN6f1vvICb9SGQuh19Bg_maO-a8KJKka-vujnXjFbxzy3zpJWd36s8vkZ-96xt_X7gXwNlgKcIpv8l4y5NN9YWB9D0Nv4LrvwIxC5qK0ihJanTTtPZA70Ae9XTyLQaeXPPkQr7KrfrKt4y3-xgj1yOV2A7mZ_t-WqZbwknTKAz3wZILry8WCEjaVeaH-13xOdibJmD0n6syLjYR6Uu9UTz4Dj7fO9PEeKfnK_CbRYTlrk7PcZpIO0Vjxmec675iddpBiiWAaoKUMXGQ9FApWtNJASFD4JYe1AtOi273YmQR0RPONZGyerGybCsRR96pEA5K9LyI8ZGtzwqQ9YRYi3ms_4vFbq6hEe1Wznp7OD0Hh_1M4MrezycyCjvwniM4rQ3AMskOTK7meGVf3ebw-PctCS7gkF_w8eaP6d0vfQUDdKi059qyRuWBCo4bnIef847XnkpcDMQsvWERXCzdcuizR3kAOFdmVxcr5ENys_eWZJxw7U3lBB4jbHajfnZX7eEtRtVOc522l0C-gCf1zOG72nA82l5Ds8jpfs7mYLC8Fxlanwr-U1ZNDJ7nplcC6fa3b8p0mA9VWbRmXMCdGonhrci-DvMloMQ9uHhTnkzsOnTccNcpyW5756q70a5ru6LzciilG00an5AUoRpgglPaYAoKf3lMukWEK0b9G8uvcnBwduQTSjx5L9HwvVIRe7AH3VhQEl8kJOkPpkHLSbui_u9App77FcylZ1LXWd3B4tktmNhjDuy0r5TmS62w=",
  "id": "rs_04ddc73f3b8d8cde016ab2c48508a487d0857a28b3893ec539",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.19,\"left_z\":0.025},\"note\":\"The light plush is slightly left of the jaw column and lies beside the safe wall. I will shift left and lower the open jaws around its body.\"}",
  "call_id": "call_7UuHastrkuvsc5ELX2iUQjeg",
  "id": "fc_04ddc73f3b8d8cde016ab2c4868f4887d08d96711a58440d0d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7UuHastrkuvsc5ELX2iUQjeg",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6174, 1.8675, 0.955, 0.012, -0.4576, -0.4805, 0.9992, 0.038, 1.1175, 0.9981, -0.8585, 0.0784, -0.1196, 0.9953]\nstate[eef_state]: left_x=0.4032 left_y=-0.1862 left_z=0.0284 left_yaw=0.0214 left_pitch=-0.2011 left_roll=0.0351 left_gripper=0.9992 right_x=0.2925 right_y=0.0009 right_z=0.1757 right_yaw=0.036 right_pitch=-0.3925 right_roll=-0.1444 right_gripper=0.9953\nstate[joint_eff]: [0.3761, -7.788, 4.6564, 1.2186, -0.0562, 0.2222, -0.0171, -0.1436, -3.5077, 6.6256, 1.5946, 0.1197, 0.1343, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1fba352266c022e3f381d96fbad53c3d9314de841c9f884bb4a8c4336287d0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:278a6b023c905fdd931f323063b03f2cab33a961c4b50e4b20714fd56e90c6fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e076e3c672c72d1363470a91577a68bdd5d514f38eaaeaba165246a6be9059b8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 5.719 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 35 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7059, 1.668, 1.1656, -0.3923, -0.5037, -0.5407, 0.9992, 0.0376, 1.1137, 0.9989, -0.8261, 0.0895, -0.1017, 0.9952]\nstate[eef_state]: left_x=0.3848 left_y=-0.2113 left_z=0.1342 left_yaw=-0.0001 left_pitch=-0.1731 left_roll=0.016 left_gripper=0.9992 right_x=0.2989 right_y=-0.001 right_z=0.1818 right_yaw=0.0153 right_pitch=-0.354 right_roll=-0.1426 right_gripper=0.9952\nstate[joint_eff]: [-0.5675, -8.0752, 8.841, 1.5458, -0.4713, 0.0269, -0.0122, -0.1299, -4.1504, 9.8667, 1.6337, -0.1148, -0.0513, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssSObJKtMMTKMnyvJY--ulC6qp_ANIttT0-tapdumsfvO_jtp_tSXPH4QrWUSJcKCCQTMcW_fjAlg9MbmrPf_rULs77qeEL7siPu-Z2bOfrdo9kM1Blwiuy6cPLdTh08rP3ewawdeFjiwLIvUOrnt5eUrm8-We8cS2flX5u8rPr0uhBegwa3zgzCKu8Yb00fXU6KkLfkAZ7XCecIj9mQbr_KiXGwMQ4D0xYo5UsBmZhsBU8RJ95O8gxX1yMLisNRzAoVWulQWENGl_c-o5qr-j1mWSet9gjZzWSFq5cApuKC8MULSn8BUPw648NVZ_tNUsMFTOt4YMny0MnytlL6eEyq9rLYnX1o2u9NKTTpQicskCoe8xJ-SM0t33twjfdhJX8Ld9V6F-1DA_PR3krYuUAdXc1a5D9DYUQ1v96eoC2NhD8UtguNYiV18JEuDrO6bm5Oc4xbkCZQKytfaGleuT4guWMJNyAymsZSdIjo-vMXx1Xg3zg8ZKQaJnug4F4v_bCww5byCA-z5_GbxT1PtqiKERYi-i5T6orOq_5dvdsjHnPYe6QXuvpFpAo9VbKDQqI2bwX7bnn9pWGCQoFjx2Mx67Dx3__6_AeWevw4xHibN5VQTBOZaojmgCDVIF-kckBLhObzBSzl7SOlGMjMQlq-sn2ahb6yrxIc_JGVCWqdpYf7m9dVO3c4fMx0JqbuW5a6S2L7YsUBLStn9m5gpL931oWgebOlvB_jiSn2QY1k0ep7bOqkOnVs7MaBuBkxKPSHILMmpNmyBqPDhMs4HwNro0fFY6rz-q9SmJ3RjBu64sQXpJQqQtfowgz9R9X-3Bew9rVFY3-47Z_gIv-s_DpeHPLHMLnQPC0FO6hJwA3_hrFN96Uu2Z0hqncZbwx3CXrDbsiDPJN5Mk8-OH9jY6-454Y1biTS4dtiQqCIEHzBUdaHHZlSquAWu1K3erJPogyztWgZm6Pgmh0IILFxMfNBcAky_NwtuHg1dGldjnpvM1kVseC937d-m6Gx7MYEs_vXyH0qEv8YUdafQcMBLpRIouVVkSj6GJBUPHO88iXDJQ3YMwyyBSx76rHsOX0YC-_j_fSiPTLsKDnMMDdWR_yhf7PJi_Hots_pOXI_-JPRegX_26jbZF6Uwq6H9OLcuGWjiNuHxFWWyWrmzXz-OTW6bm_qZwz-BdtGshfyLn1pOMhnfOqtvwluQCtpA5TqSKGuwUs5JvPvYt32ThzRMNsYmg==",
  "id": "rs_04ddc73f3b8d8cde016ab2c48cec8887d0ba6df8e6384831db",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The plush's body is between the lowered fingertips. I will close around its soft torso.\"}",
  "call_id": "call_kWxi6fukkBBea3GTOatmebYh",
  "id": "fc_04ddc73f3b8d8cde016ab2c48d572087d0a0c105147a030330",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kWxi6fukkBBea3GTOatmebYh",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6144, 1.879, 0.9489, 0.0292, -0.4763, -0.4786, 0.0437, 0.038, 1.1175, 0.9981, -0.8818, 0.0811, -0.1238, 0.9953]\nstate[eef_state]: left_x=0.4047 left_y=-0.182 left_z=0.0252 left_yaw=0.0374 left_pitch=-0.1926 left_roll=0.0487 left_gripper=0.0437 right_x=0.2877 right_y=0.0002 right_z=0.1726 right_yaw=0.0361 right_pitch=-0.4161 right_roll=-0.1493 right_gripper=0.9953\nstate[joint_eff]: [-0.2256, -9.9897, 6.0239, 1.2869, -0.1001, -0.0952, 1.2039, -0.1299, -3.1795, 6.5299, 1.4676, -0.0171, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c9f20c06b301aa6cf711cb45b01b9c3ae748008ce02e539e25f665188b0b634",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cd99e87118df822294f47f303585a6f8bbb65c11df8148de33053e90a1cdd31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6473839454fc71dd589381a064f82d66eb5594408c58878072883d02b4c37c11",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 6.121 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 39 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6174, 1.8675, 0.955, 0.012, -0.4576, -0.4805, 0.9992, 0.038, 1.1175, 0.9981, -0.8585, 0.0784, -0.1196, 0.9953]\nstate[eef_state]: left_x=0.4032 left_y=-0.1862 left_z=0.0284 left_yaw=0.0214 left_pitch=-0.2011 left_roll=0.0351 left_gripper=0.9992 right_x=0.2925 right_y=0.0009 right_z=0.1757 right_yaw=0.036 right_pitch=-0.3925 right_roll=-0.1444 right_gripper=0.9953\nstate[joint_eff]: [0.3761, -7.788, 4.6564, 1.2186, -0.0562, 0.2222, -0.0171, -0.1436, -3.5077, 6.6256, 1.5946, 0.1197, 0.1343, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.095},\"note\":\"The gripper closed nearly fully, which could mean it caught only a thin part of the plush. I will lift a short distance to check whether the object is secured.\"}",
  "call_id": "call_50M3Em8V6pQkyON1Muacmi4f",
  "id": "fc_04ddc73f3b8d8cde016ab2c493edc887d08889bdf5b979c701",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_50M3Em8V6pQkyON1Muacmi4f",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6144, 1.795, 1.0313, -0.2436, -0.4629, -0.482, 0.0467, 0.0383, 1.1175, 0.9981, -0.9035, 0.0811, -0.1238, 0.9953]\nstate[eef_state]: left_x=0.3899 left_y=-0.1741 left_z=0.0506 left_yaw=0.0452 left_pitch=-0.2835 left_roll=0.1041 left_gripper=0.0467 right_x=0.2832 right_y=0.0001 right_z=0.1697 right_yaw=0.0365 right_pitch=-0.4378 right_roll=-0.1494 right_gripper=0.9953\nstate[joint_eff]: [-0.1026, -12.6291, 10.0718, 1.8632, -0.359, 0.0122, 1.033, -0.0615, -3.1658, 6.735, 1.4237, -0.0171, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:593ba7f93b4169acdc24f02417fd03ddc1e74218aaa4edbd2a0110c3052bb2f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f49ff9b3ed11d962cf79f3a95064343a686854c00ed164d228873408bf6fae14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:956b51b2970b8a86adf9387531a0ef774e19a9587b315dfcc11a67794ca4f260",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 7.467 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6144, 1.879, 0.9489, 0.0292, -0.4763, -0.4786, 0.0437, 0.038, 1.1175, 0.9981, -0.8818, 0.0811, -0.1238, 0.9953]\nstate[eef_state]: left_x=0.4047 left_y=-0.182 left_z=0.0252 left_yaw=0.0374 left_pitch=-0.1926 left_roll=0.0487 left_gripper=0.0437 right_x=0.2877 right_y=0.0002 right_z=0.1726 right_yaw=0.0361 right_pitch=-0.4161 right_roll=-0.1493 right_gripper=0.9953\nstate[joint_eff]: [-0.2256, -9.9897, 6.0239, 1.2869, -0.1001, -0.0952, 1.2039, -0.1299, -3.1795, 6.5299, 1.4676, -0.0171, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssSb2jazkH5cmWFVXJrpNphzod6fFJijYWgJGA6n0OgOJc8pR_s89xDXHxxP98Uda6KXsIUsJwkK4FCm_VCFrjbaKGfmV2llbzzglegD3mggvUG49vzfYhpUMfLrbMl3bnWfPCFqFv3WrhK8_jZymEbhtQJRpHlDqFiONHYdpi5otvUQaynWPlnUrIlsO1EBMXKa6OKQwCQc2j1D7qBophdgT6PxXB-Vd_e4y8S6JGozJ7sTK74Rx3gT7SacH2vC-ppqjapmYeTIHx8kwruFr91qgC_Yyie1S2TLkX0FbS0BTsGnuIp5yP7wUxbkvLWcmbnlDxBrs4zbc32X6OeUYrrCIrshly77v5ih1VDwnwjGqnvAvMWlelBc2HODRsHLjQNvsQM64kZ7sUHG9S9UKdQ1byWjSCkF69oNRFGlT6d_-lf2KJtOSBqIA0u-fvH01m8l3ChR-Fg7V4TyGe5feSbsPfcW325jhtISpn1nyMW1JVxMgdgJjR09OA0wm932cm3BeW70mIllUPNfR4jl5864kxBFTXNndGxs6pnhf-hIxrZNoQhCx2_QS9QQkXzMJf2-OtNoZmzwUoD0abvEANNxdUGA1i_hBweEZ1_b7Vx1M72dm-ZWxTxwPNKdSUth_RXN91OxSfZITEdiYYWCeyTzxusRzkdHLYz26iA006fkBnat62ZTXk7_XVXZsXjTQbxtQPsXCvUEu-Jy26Wz4inJ-T9y8vou293RofSF1gOidYvLqyU9qy7ZRdKGZDuddpQ50RTqd6sBs3kVsBPNPkWiJ8-BNLpVKv8W0oXMlXmu9MuLlYThxp82VhmSZspzoOXiAHd2mMYJIkoy9F8jQl8lfsgqO6aOxFqV3eyOMdUVZ1glUqUJ6Q_rcxcJgdgERW9aeLGkqFUv-xYiNt1jf7AFayTs2OGKfRShtLciC4A4gGWT6ILdcRDf1WCNzZlgrmkpyQ4-Cj5NT0WPRO4rNb9pZ3oyEDwnnGHMoXUplkn0QLA78_1Yb9eUvexJIS-b-entzuUp3TCvtr5LRHHyBaO_QDLOS5GfNp5-e8qTCDllRvwhb4ZByeEv75g_21dhnfDarB0gIUVsyOabG82Fa6iJHMP0OlTB8I1O2QLdzgvayJXbigqFb133XFeaywC41S9lWxYBDe9d8saRAOWVtBJ6UC0rfhC5otb5sg3kRw3T5IqlmYE3tYWPRTzfeJ0v8DTzSMgz_zzzU9EIGv9yrdeb9Mehi2EX_NVot3F7wwIWgu4xHCpkipLjNzIucHqJUnpToygpj4Y11tgJIiACPm8rzlm3_LA2ibVf8RGorymWLx7QA7ygLNiL3MQVFdqB-yPl",
  "id": "rs_04ddc73f3b8d8cde016ab2c49920e087d08bb9390d4136c4dc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_x\":0.445,\"left_y\":-0.175,\"left_z\":0.018},\"note\":\"The plush remains on the table, so the first close did not secure its body. I will reopen and advance farther over it for a centered grasp.\"}",
  "call_id": "call_CV73LypI8sabDTz2YhOwokfN",
  "id": "fc_04ddc73f3b8d8cde016ab2c49a264487d0ae6d4d5539e380b5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CV73LypI8sabDTz2YhOwokfN",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5385, 1.9949, 1.1496, -0.1772, -0.4282, -0.4343, 0.9953, 0.0383, 1.1175, 0.9981, -0.9188, 0.0814, -0.1242, 0.9953]\nstate[eef_state]: left_x=0.4312 left_y=-0.168 left_z=0.0123 left_yaw=0.0711 left_pitch=-0.3164 left_roll=0.1206 left_gripper=0.9953 right_x=0.28 right_y=-0.0001 right_z=0.1678 right_yaw=0.0363 right_pitch=-0.4531 right_roll=-0.15 right_gripper=0.9953\nstate[joint_eff]: [0.3214, -8.7043, 7.9248, 1.4579, -0.1636, 0.1978, -0.1294, -0.1846, -3.1521, 6.7624, 1.3895, -0.022, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dce225e6bc86806ea0594910fcd096f1ece89f9e0097eb426c316a57a058267",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d468d709931a73b280092b62ebec371f53615de0dca308dcfde98f4ccaea6c85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:802f31adfb3e3a0fd5ab67062422f2ea215f6b9c862b8f1e44d99b87978c7ff3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 7.106 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6144, 1.795, 1.0313, -0.2436, -0.4629, -0.482, 0.0467, 0.0383, 1.1175, 0.9981, -0.9035, 0.0811, -0.1238, 0.9953]\nstate[eef_state]: left_x=0.3899 left_y=-0.1741 left_z=0.0506 left_yaw=0.0452 left_pitch=-0.2835 left_roll=0.1041 left_gripper=0.0467 right_x=0.2832 right_y=0.0001 right_z=0.1697 right_yaw=0.0365 right_pitch=-0.4378 right_roll=-0.1494 right_gripper=0.9953\nstate[joint_eff]: [-0.1026, -12.6291, 10.0718, 1.8632, -0.359, 0.0122, 1.033, -0.0615, -3.1658, 6.735, 1.4237, -0.0171, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssSkwWHhGqKF7zxB1EZnpUm5y5ePBkJesIU2jR4q7iUFtsTBUwmpjuwgq_aa71UImUeTnz3zqPr1KpgOTZSvIXkzFUhBivEv7GRrZybW2GxBxqwUPQECGocJ3rjQQyT8U6uj44zZK5t64qTQnrDUPsKmmBepew4wRXitqYsCji5KIkGPEQyglqWzSt9nbTaL4QqBrf63ifZ8IG_ql-HqfYnhQ0u1WIEG_AJJDbG4XWlR5gdeZqa6P-U_ybeBL8zY0k64n0SGnFbdomAK7G1-zHJjfxgswTyWN-t7zgxd0LQkgo7wv4Y9ZgiiB6lYBJCiLXIxKit2dWPVOEq--0w8dvC7vBQ-Jz-WljPeRGRVBGQiSiD33i8GwQPKMmPAeJYRxioxKFU1i8-RZCUGOfcP9Qa2k24XieAxI5Wh5hCr5MV6bws09LT_NkFVUh_Z8MBXDSDpIloWg9N5-9yW6K0R3DSPP4S-FhmVo5Ka16hS4U5PDON85xtsHCc7kH1FYEADmp72EO8t8JILVM4V4TZNwBJWqBSNnJJFhQ03ZDzEG5QNaUg1KbefwbMDGvm8Ui-JwVQMr-u7eWf9C3ZR1b08l7C8_3EgiKBdsX1ByEjhE0CRRc26YRps27w39Xl4o1P9-PxAO3zgIOdAgWYW4WQ-3CvU1fCo6Q58vY86wnde3RPuvkEQbphl3yXWGbmL1svvC-1iaDZm3arPUd1S0dNv4_Tp2TFUC-Y7esJxwvSruI_6BAXt8zS43jBZhOCqmzEr7RhvE0ufIrF1Q3WDvoLgNDOMTsGtlozQtUjpbP7O-EPuhxkLZ4as2m6ZDbyYfzkOXH9XH3Wi_VEGqFjaFZh2tmxDCIt6lrFmjmYLllEI2VI4WcjZIiesykJw7tOVGxJlaWpZrrXGfcPHEp1CiVSyhCoq1RGSSlsZ3Yn_XsnpOvVFzm5OmpYEQjk1pdo6wOvH1AfmTrLuWtjYere0e4MTuidxITZW9SVfxYIMTFwhHTUF6061UJjv0Gz6QUfB1RmFsTMGmUHrZacVkYArj7AE_HFpLEHH3GQYFSLh_oY571orHw4ZRx8dI-ubU6Ake-KniYk8f8UGdlYiWj9kGydb2TD_h93khT4BeYn_FCvzEVWBOoYnXfwaBW32B8NAcewc24dpiUB1NQdHou4r0NMnWthRYgsr8kEZBQpZcLDO6WAPI0ya014CSDXdpWqka57okJTYZdvlhrlBLAPyiKHSE0WfyAfKEqWhPtCtlAj3Q2w4fKHc0cDwcHSQs_gxntj2ntxrEW-QNYhqg0zNS5GAqCPTPUHt5YQOkGzs-TPzhY5UustoYIVWn93STeq2wNDgumQPdUiiGI-WT_o47FtW_shuE7ljXDBUWQBhGPXUjHK4ybfFeOw-vt6C7475IRuWlQMzrlAXiYuDd_oIBj2XKtgH7w==",
  "id": "rs_04ddc73f3b8d8cde016ab2c49fd8d087d0b9390ac9520506ef",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.12,\"left_x\":0.44,\"left_z\":0.02},\"note\":\"The open jaws are too close to the safe wall, with the plush off to their left. I will shift away from the wall to put the plush between the fingers.\"}",
  "call_id": "call_CedovT7qhjNdXmACedKSjgzH",
  "id": "fc_04ddc73f3b8d8cde016ab2c4a1fbd887d0960c9387a459f9fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CedovT7qhjNdXmACedKSjgzH",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4282, 1.9591, 1.0966, -0.128, -0.358, -0.3553, 0.9963, 0.0383, 1.1175, 0.9981, -0.9272, 0.0811, -0.1242, 0.9953]\nstate[eef_state]: left_x=0.4402 left_y=-0.129 left_z=0.0125 left_yaw=0.0762 left_pitch=-0.3256 left_roll=0.1015 left_gripper=0.9963 right_x=0.2782 right_y=-0.0001 right_z=0.1668 right_yaw=0.0367 right_pitch=-0.4615 right_roll=-0.1496 right_gripper=0.9953\nstate[joint_eff]: [0.5675, -11.6991, 4.8615, 1.2576, -0.3248, 0.1636, 0.0952, -0.0068, -2.906, 6.4752, 1.2332, -0.022, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:688d8d72af459233ac14724a245cb87af9a3a5d75e154f8d21b3fb69560c68ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9da2bcc7b5b4f3257e3f7af3954fd78068c96c66dddf6718ccedd2ab80bfbaf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d3fef1afd8fdaf02a1fadcd465633254d5225c52369ec426968324b9803d955",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 7.962 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 50 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5385, 1.9949, 1.1496, -0.1772, -0.4282, -0.4343, 0.9953, 0.0383, 1.1175, 0.9981, -0.9188, 0.0814, -0.1242, 0.9953]\nstate[eef_state]: left_x=0.4312 left_y=-0.168 left_z=0.0123 left_yaw=0.0711 left_pitch=-0.3164 left_roll=0.1206 left_gripper=0.9953 right_x=0.28 right_y=-0.0001 right_z=0.1678 right_yaw=0.0363 right_pitch=-0.4531 right_roll=-0.15 right_gripper=0.9953\nstate[joint_eff]: [0.3214, -8.7043, 7.9248, 1.4579, -0.1636, 0.1978, -0.1294, -0.1846, -3.1521, 6.7624, 1.3895, -0.022, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssSrtM1aPYA2P0C4YKNGMR13whlilF7aqOLuTZehAYthISabzgXTEcHcI_S_Ego4yy7X9Jfry40S2_Nl7VudbDSdbYclZduCcvjtm88OMz8BMEoWiXG49rESRWP_Z871lMxFg_Ingp9ZGXiqIZoaAuFmWum2fPPq4ff1Y1EL0kKRsIezpbcUR-OhhuDk60Ds_99VNQu4TFTtR6UkPhGwmWyxOPSXvbMom2LNtX9rLI1zcgOaJ9UrqbP5jb2-sh4Lwb6fYHyVuITTEQTIBkv21eFslg2-pVZn64-y335sc6DjDOvo3KqzxPhneR4lfip55VIsyuhd852zw6weRdj20uJUWwSm2TlLBZaFcR06GPpOFjTEQr02Inh6NOoshmoL8ehqYFLo550flwHcJTIKODfuadXF5vt9ufIiaPEfT3APGwC_l2OJSYF2hPpQSEtMiwHvzv14oce9oRzb9zUC4R2CeXWNGktXvcCV7ErMKntTZAaC7w1agyBG1O7afjF5zmcT_Kq7BBR2zeU4DWwuXc2JK5dE9GKEcaXYuFOpI6Zn9kZ5kE34QJyqccsOmY9AeHsAJK95iKiYUS3yKxV18wCCvoglJ1tnFrDO5yQYU9PGQqI0-kzq2UxzxamjWp-mkpnMf5RGGDiaS6S64VdpezQXXjD88c3MOU66C82FBAXPUxg2nHNqaqb_yxHsP4w7ODieTgPxInAKQQT-lNoB58z9i7a6ELwMdE-XOQTSvgh-aFn63TqNaX5HU7jaUgeo7t4BaHZXx1L8xeQFCdbMj00Hk6ilv1BBFrSRQd4bQu_jwu07McjYELowJ6GAP6fr7ToYoRVcU_dLjQnyfW0CfBwv4xECQfaztX1_Sv3t_qCSJvVsbpbcpuIuKpTiP9CGR91Z2LMuaECb3uDxNr-XkB9UoSyK3VW48lX5-SvHISj8BMUnvaQjVSNdf2P_TzsoFa6TDyQHMtEYni_91-nTOMTfmkqGI-7fSBLCdnrG4NzT0QsnTpwKBa0LkjNDZUCrv3SoY7HqDp9YnD-OrhPk-zhrDIZ7Fi_FFaLaJhCSt0r9i_NwaTO6vgTiHurrYbP3smdH2IYpzIYQlgl-TAohlTGs5oqV0d3K8ZXDurNapvHYHgISdlXQ8Tp_RKzpkeUlLBcFcwMe-Ze7CgU516W9UXHL80cujbfuSCwQV-3nAeQ82--u7IPFixPG8f_TaygqHqofpHlL4jH-8weQkNQjwod8R_XSnMgtc2Rt3g7O0zmX--C00u-frCgTNjr2qmWOj9RUFJsS8rQvovdpEgOrLNdeUZTb6c3fdk0dtIGOs22BWsKX8co0RtJBIps8oc2BPWAGpns1bwfDt42IkFql-ZbhJQRnANhyDiOcGqCl4qH9MboKmCg5MvI7-3I9gGRSkgrMQYG1Pk_20H1n_rItDwjWxToGWpDSUA9TcD_s19saJYOfANoM9OyLGvJQ6wJ1aeo6R5rZhDpIbiPoXf7_GjSXXYLhkpG0Xe8oOYsUeE0FxEyG8dsNKbLHEYXUn98h6C1SUVU5UAg-lBb8laqVHdQWnaNDzDIgmzKkZyon5xxTq5c=",
  "id": "rs_04ddc73f3b8d8cde016ab2c4a7225087d098724b73099211df",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.12,\"left_y\":-0.07},\"note\":\"The plush is still alongside the left finger rather than centered, and the safe is very close. I will raise clear and shift farther left before making another approach.\"}",
  "call_id": "call_SvUACe4FC3gpsb5UYvoSMptv",
  "id": "fc_04ddc73f3b8d8cde016ab2c4aa3b4087d09be91668fdf79712",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SvUACe4FC3gpsb5UYvoSMptv",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4118, 1.9537, 1.0916, -0.128, -0.3561, -0.3298, 0.9965, 0.038, 1.1175, 0.9981, -0.9459, 0.0814, -0.1242, 0.9953]\nstate[eef_state]: left_x=0.4411 left_y=-0.1216 left_z=0.013 left_yaw=0.0763 left_pitch=-0.3276 left_roll=0.1166 left_gripper=0.9965 right_x=0.2742 right_y=-0.0004 right_z=0.1645 right_yaw=0.0359 right_pitch=-0.4802 right_roll=-0.1501 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -11.7812, 4.9709, 1.199, -0.232, 0.0708, 0.0024, -0.1026, -3.1248, 6.4479, 1.3455, 0.0024, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b189e7dc2bff6562e377c05c992a1f10c35d8a956979e43b327ecc4256cb1146",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f4b45d0c062294873bc1f3b6c713de7efffe55b9251f443180403cfa0b55361",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c821f223a05b38cb438e92d6f793d09ada31d392e503ccf1d1fe6f7e7f5ccaf3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 9.526 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 54 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4282, 1.9591, 1.0966, -0.128, -0.358, -0.3553, 0.9963, 0.0383, 1.1175, 0.9981, -0.9272, 0.0811, -0.1242, 0.9953]\nstate[eef_state]: left_x=0.4402 left_y=-0.129 left_z=0.0125 left_yaw=0.0762 left_pitch=-0.3256 left_roll=0.1015 left_gripper=0.9963 right_x=0.2782 right_y=-0.0001 right_z=0.1668 right_yaw=0.0367 right_pitch=-0.4615 right_roll=-0.1496 right_gripper=0.9953\nstate[joint_eff]: [0.5675, -11.6991, 4.8615, 1.2576, -0.3248, 0.1636, 0.0952, -0.0068, -2.906, 6.4752, 1.2332, -0.022, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssS0iMY0FROM-VTCMpG2J6ucVjJ4ViLLTR9u0YgdK0MvqIbBqmpgAJ1J7lkcDX5gp0RPZgX6EqcDGHTqDiUE6dWe4HlDbnHMSJ-GY3e6gQlC6dd5jVOMWj2g1cWcI_wQPWmGRxdsswO636tC616AWalugo0ggKAd0x7bs37h9CepTBrVDCsvP_p6LKkO6ClEOruqsb_uAPQujwp8m1DWL6lyt3wXkm-d6P2S7p2IfDreJvMseJB5jrIs-tEaK74osF1gBJW20iW0XURYrnRCXkg8G64qoKm0nkEzz5W5maj3D4vfNnBTn2pIg_0l0L9AhSqPVUUDm6ta3P9C7Cl3SFvtvmuiiVRdoqeGJE6_sQnHjfLsxFGGxaiKsfJB1oGYAg18h75NRg34ejmqTS34l75hjqh5xy2n6scQJwjYIQwSioljuQNZGYxOl7JWauFNlseFgBWKn_aOftF4auCf0p90To0zJPKVe7nblR6nbfu3NsYkgXdEY547IS1WKlEbSkks250oroheqowDn3RNsnSIce1Ncn8dNl_56mYJoJEnlqe32BWmcJ3MWWYVQH7tfva4lmnb0BCUs7cdYZBMl0qjme7wuD9DlZRJU8Arg-7x4qrFDlLcNYstUhjZDvLaG6iDw6hWcT0OkE-lZWqShNtlkWZXxxtw97CgDWtBWxuNWDT5bY5FbBSXy7MPZgE3WIxkF7FoJ3mt_jVrmgntf9pTaZPYRnsyz1rJOia4s5VS-SsTNJYEFXV22TEue0A2GfwgP1KPJtO9PmZFANVUXVTcTt3AAUTq7JVaJE706bvMeanRI8K7zvnBLQg5n36fYd54g4w54ub2LvkYz1sJEgIGTD-84wn7RAQDLEn-z6PnewksyCvKJetUh1KSFL8418z_I2GTtXITK9mqNfB_Z1N2c8rXOPLxqE47BHVjURtvCeMmK_e29scvpa3_lFMd2Y9FnQA7GPr3yuZ7Sj_sgfaMsY-OIdCmvToFqJA_9LjeXtssNwSrET2FXythrKEU28atNw088OiVt-zxHwK4jbcveGO_auT2E2jONrk8Ud-MW9UyxMTGwdvhFZDr0mKfor-vP_46bVguKFbOM7fhkFEub2VTeEPEo0y36QS6WwUtuvJWHuOmjjtcPxTbZdm5eAwEtWHcktpDw8Ib2dt8h3EZsIm7XHFrBkAohbk36J4KXVBPdzUW5FJllSK1azgoPow2fAaxmKYTZbjxD1KtBppYbWAnqCpZqEiDVDMuKZ6ypPcL4OaPACFKB-kemdzbbKwP",
  "id": "rs_04ddc73f3b8d8cde016ab2c4b0acd887d09c5933921c33ecd7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.12,\"left_z\":0.18,\"left_pitch\":0.2},\"note\":\"The arm did not rise as commanded, suggesting the open finger is caught near the safe rim. I will retreat toward the front and raise the wrist to clear that contact.\"}",
  "call_id": "call_rHKtUwCFbJkmDZsw7GXuNBzK",
  "id": "fc_04ddc73f3b8d8cde016ab2c4b1e77887d08cb208c3277c7e79",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rHKtUwCFbJkmDZsw7GXuNBzK",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6376, 1.3178, 0.7059, 0.0483, -0.6853, -0.2752, 0.9966, 0.0383, 1.1221, 0.9962, -0.9668, 0.0814, -0.1242, 0.9953]\nstate[eef_state]: left_x=0.3611 left_y=-0.1239 left_z=0.1656 left_yaw=0.0572 left_pitch=0.1482 left_roll=0.1173 left_gripper=0.9966 right_x=0.2695 right_y=-0.0005 right_z=0.1602 right_yaw=0.0363 right_pitch=-0.5076 right_roll=-0.1501 right_gripper=0.9953\nstate[joint_eff]: [-0.4718, -6.0103, 6.3111, 1.8779, -0.3492, 0.1245, -0.0024, -0.0615, -3.4803, 6.5846, 1.3065, 0.0122, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6098ff733d2a204604351e67fcb6d94b70555d17b8f150a94e3a06ed431b4547",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5e46ea5b6c46299193795922dcdff50b77d198f8da89b252ae44bf9067545c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b07f315c9c7ae37a08424210587a3373baba4a8d426acb75fc50e3e42d13040",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 6.537 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4118, 1.9537, 1.0916, -0.128, -0.3561, -0.3298, 0.9965, 0.038, 1.1175, 0.9981, -0.9459, 0.0814, -0.1242, 0.9953]\nstate[eef_state]: left_x=0.4411 left_y=-0.1216 left_z=0.013 left_yaw=0.0763 left_pitch=-0.3276 left_roll=0.1166 left_gripper=0.9965 right_x=0.2742 right_y=-0.0004 right_z=0.1645 right_yaw=0.0359 right_pitch=-0.4802 right_roll=-0.1501 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -11.7812, 4.9709, 1.199, -0.232, 0.0708, 0.0024, -0.1026, -3.1248, 6.4479, 1.3455, 0.0024, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssS_mwvI_y1qnsdRDU5Jcd1Ui0wL_hdM8y3WKKVi7i2xJvQZCN0jv__hDHRIUYEyYzRXlxweameF7-ZBNxptf9spr1EejLKCXBfx4Cc3cAcPND6tL5KphWqnG-i4swt1c_VZfyzJl1ZA8VO32pQThNr43SnTvoetatEXi2H0wzY0Mco7vcyMJpdZBteCvpIOQfDCvrgiKVJcwax7Dfx1xX-NC9PsVstspsZie1127ODGXfKM1PANBwCqgtUt-JpxZngbIg1wFjS_fpEIO1DYc6GHN2e44R0Bl78gqnn5jgqKPlu8MPPvX5vZIrGQO1lrzvG7006rnxfec6vL6OCY-NMSTUIGL-4oEjcplOLq5gG9sd439ReTL4UmH9zcbZfW9v45f77GvX0-Kyc67NzhLLogO6WXqHqsQWFAcpuBorCVrPsJCAij_WHhaG69r6Fx52Yq7VBQBU-MB6kvf6vDYmGpXNkEL_o7Nbl55H4-GCHmGQTxRYnrcy_5eBgr6MQ_4tqxxNX6FWc9R7q5vKXSn7CDLnnZJC1ulzA1RzSrrole5gqlwLtimrunn4cnTwdzQGTTSSYDtN21PCcyVwN-sUcMSjmYcfJdeKua1CdRlQNiV2RWRC9Ih69UAkti_OnbJ0tFvuXew_KqTADfmbU6kKXeG3k-S5jC6h78RFGlqp8dbN_epz9poY6Kcykm6VEbudFy4p9KkvDgwp_YIc8gtwcSwy6cAvkOoph3FQQJU4Gnpwh3eG_qtVCe5j9UWEQIG-4Fxi6WLjC51BRJDv4SuXCfiAjcG_2Jx4d9MdAoy21hbZ-YTyRLKLIxfF0n7A1x4seA1kEfG1pNYpN26DhyNJCmKv35QFjbjeuUpNqlyr52JeMZHy6062TymLhSTRSwqmEMauw2xU8hCV1AdmRrOeeSReYfuPHpKpJm2t9puH1-xDGrn8LYn-dbjVhBqV0aEjXBVQxhF7_DzwVQu0EKjg81u6PKrzDShiZ9GKMp_v8GaoTNxaoH4AKJDeHelZwDELVmE4HTxbNYpJsr7cz4hv2zyOMM-CuJ_c1gI8WgFTQDkWgDr0M5X7_s6-3lA4TA9Rxne61xNsuCXjNsyUuIIypJaxQcs15hRe-C2n__UqPl6t2umBqtYmNjmd0uzI2eb_otzbmJIkM87-0XAwj3bxuFZYVHZTSvD1JtLIFEEPSnEejH46QOZdmNieYZOoKsaQqZwxXLNJsJYfpCn0AQDiROz07cZg7SWrAO9X33OYqvaAOPDwfloJjpKMySSeFdbH4VHgjfZU7NBWddG1WUXt3rfMhW2a_FOz1IagQjJk8xTfi6oUbBKpFC2qj8OFtvSAtps649MFZLaopXwKZNP7MXmw==",
  "id": "rs_04ddc73f3b8d8cde016ab2c4bb1be887d0af2683e221d27287",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.085,\"left_z\":0.02,\"left_pitch\":0.2},\"note\":\"The arm is clear, and the light plush is visible just left of the jaw column. I will lower over its torso while staying away from the safe wall.\"}",
  "call_id": "call_X3upKr92Ig3sWvytA4BP7IG8",
  "id": "fc_04ddc73f3b8d8cde016ab2c4bcc85c87d0abf5e4cb7e10136e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_X3upKr92Ig3sWvytA4BP7IG8",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.482, 1.8759, 0.4034, 1.0462, -0.5831, -0.1875, 0.997, 0.0383, 1.124, 0.9943, -0.9714, 0.0814, -0.1242, 0.9953]\nstate[eef_state]: left_x=0.3846 left_y=-0.0874 left_z=0.0361 left_yaw=0.0967 left_pitch=0.2248 left_roll=0.077 left_gripper=0.997 right_x=0.2682 right_y=-0.0005 right_z=0.1585 right_yaw=0.0363 right_pitch=-0.516 right_roll=-0.1501 right_gripper=0.9953\nstate[joint_eff]: [0.6769, -4.7111, 1.6752, 0.4762, 0.0366, 0.3736, 0.0317, -0.1436, -3.2615, 6.5436, 1.1453, 0.0122, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4318dfb13b502b5146fd106095bfd5cd797f7a1169ec32a28857451ab78f1be1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92adf30600feed45f980633dc6f99c99949dd36745776b8cf57750556d4a8e16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cb871864f1852b8c69139fb28eaef78f05ca90a69a9513a99a25b3dd0af1c9e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 4.051 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 62 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6376, 1.3178, 0.7059, 0.0483, -0.6853, -0.2752, 0.9966, 0.0383, 1.1221, 0.9962, -0.9668, 0.0814, -0.1242, 0.9953]\nstate[eef_state]: left_x=0.3611 left_y=-0.1239 left_z=0.1656 left_yaw=0.0572 left_pitch=0.1482 left_roll=0.1173 left_gripper=0.9966 right_x=0.2695 right_y=-0.0005 right_z=0.1602 right_yaw=0.0363 right_pitch=-0.5076 right_roll=-0.1501 right_gripper=0.9953\nstate[joint_eff]: [-0.4718, -6.0103, 6.3111, 1.8779, -0.3492, 0.1245, -0.0024, -0.0615, -3.4803, 6.5846, 1.3065, 0.0122, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssTHs8AYA7nJVFSqDCp1tAQZ-7WrEIg9djD80pG73i42cX8aWNqd-qIdpOisbJM8pqmm5TcYviaR68wrPDrOf5iAPvtdP-bhMCts73BhRBh0vXVGsZSRYrCJjg0DpcPNBUN57ik7nyJbCvCVv5ieWkbtjduXucVsnuAY1gkoR6GzowKOZ-_zWO0oUOtTHwdjUWqpoS6c5KvfRt5QgNu-kBPucW5T2kNzzmVYWY2i-VMwcc83FkM2JpESyTCV9dlqCJuwn2Yi32wrocJwOtY-ytvtT7coFZ5yt8jJqFKI-IbIvVz9ikkWXDGgEbGkhDaT5P8-mL44T251BkJcrdSZ1FAYeZBdGc0KgecqywiTS698KWViWHIj0IlkVYrfDhv_wBeeLMU6lOcvp6wBzBZPNnYedJdo8PxdqzOQdf43GyQ7o2Tn2_3DmMqIOhbKU1hWpaIqnhFwD4hRpXgMJX_G1vDWXTwSRyPMu_s0mdq3_nHdRFFMh9p0Lot_TbcvF85Qgn9t4X7TEFiJH-nLWteF-s6-JvJChSdhl6HisrG_XjPuoz5L1AhEcCPuoekvhTtakLdbXkmYatyDEEp_MRN75oHglyn_vGxDdYucusXQvpat9jeqYNNtxPYj3J64FnREGOFYY-AGLvQHYEMXHAroif_1W-0iIvDdCBj6h4dfX6pn1bZGhq493MdeP4r7LQlg1YiDtKJTexLnixhqFk0a0Se7NzvbmVzC-9FWsavces5m0YtVCSL9kbpGB-20hvPb196zSoWL5yrydx-jHNPQHH2jBOW99QqZbwKzdNigQA99wl65xlqgpKTb9Jy5I6SUQshY2E5zZn-TKv615MDU7WAmYyM_1isIcIz2sI0hezfA2_q8qv-kVB2BozMxOWYLZrSz78glMiMSBRbOxykWXU9VyJ8OcdthV-EEJNUf7WpSCCgIVOWGGWVCgTVZ3pDm-K9lWVlRh1WLhAm-rVId2WT9p-vyTv3Ow32JDRtJlw_zY-ERCm0oSUy9xsie8xAi1SaMk0f8XGrWq7l4yn0qQjk7k4l3LFhrnovMc0_M_ROg1N46vaJo48TZdwqmJ7GRwI_fq60vgBniLpivWS7DSR86dY38skIDjbhbtDY19SCeEyUbI27mac06laxg2iVx1DlDQbIMLkcHus-WPuuEW89y0TD1SConvYxv5aTmtHT9ffK3KnmGy22YRNtuAPqqGmQt-xAdo64VgDG5vGO8M6Ny6g==",
  "id": "rs_04ddc73f3b8d8cde016ab2c4c4f88887d0bcb8b91827934521",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.055,\"left_z\":0.012},\"note\":\"The plush is within reach but remains left of the closing line. I will make a small leftward and forward correction to surround its middle.\"}",
  "call_id": "call_ly6YH3xxkWmSKcK5MNk5sTP2",
  "id": "fc_04ddc73f3b8d8cde016ab2c4c5721c87d0a837db79d47d3c03",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ly6YH3xxkWmSKcK5MNk5sTP2",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3546, 1.9999, 0.4274, 1.2541, -0.4915, -0.1646, 0.9971, 0.0383, 1.1259, 0.9928, -0.9871, 0.0814, -0.1242, 0.9953]\nstate[eef_state]: left_x=0.4092 left_y=-0.0588 left_z=0.0365 left_yaw=0.1483 left_pitch=0.2995 left_roll=0.0125 left_gripper=0.9971 right_x=0.2646 right_y=-0.0006 right_z=0.1558 right_yaw=0.0362 right_pitch=-0.5351 right_roll=-0.1502 right_gripper=0.9953\nstate[joint_eff]: [0.0342, -5.135, 2.5368, 0.8523, 0.0024, 0.4078, -0.0073, -0.0615, -3.1521, 6.5299, 1.199, 0.0171, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5642ca98389abc2efafd992930ebeef54bb94c5728174c52c2dc05475ce830a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d1b426c8acdb81034be9279d3ef6055940c475fdd1dd552c7c989fb45ab1bd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67ce7d9cf681dd92466fb3c2b53918b2d7e96321565718b95fec4e561f0002a2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 4.366 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 66 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.482, 1.8759, 0.4034, 1.0462, -0.5831, -0.1875, 0.997, 0.0383, 1.124, 0.9943, -0.9714, 0.0814, -0.1242, 0.9953]\nstate[eef_state]: left_x=0.3846 left_y=-0.0874 left_z=0.0361 left_yaw=0.0967 left_pitch=0.2248 left_roll=0.077 left_gripper=0.997 right_x=0.2682 right_y=-0.0005 right_z=0.1585 right_yaw=0.0363 right_pitch=-0.516 right_roll=-0.1501 right_gripper=0.9953\nstate[joint_eff]: [0.6769, -4.7111, 1.6752, 0.4762, 0.0366, 0.3736, 0.0317, -0.1436, -3.2615, 6.5436, 1.1453, 0.0122, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The light plush is now centered between the jaws. I will close around its torso.\"}",
  "call_id": "call_jVbTFlJ1SFNlpWEckoA81EsV",
  "id": "fc_04ddc73f3b8d8cde016ab2c4ca769487d09fde950a8fd72a3e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jVbTFlJ1SFNlpWEckoA81EsV",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3328, 2.0365, 0.4301, 1.253, -0.4599, -0.12, 0.0444, 0.038, 1.1259, 0.9924, -0.9974, 0.0814, -0.1242, 0.9953]\nstate[eef_state]: left_x=0.4089 left_y=-0.0546 left_z=0.0221 left_yaw=0.1128 left_pitch=0.2624 left_roll=0.0639 left_gripper=0.0444 right_x=0.2622 right_y=-0.0008 right_z=0.1546 right_yaw=0.0358 right_pitch=-0.5458 right_roll=-0.1502 right_gripper=0.9953\nstate[joint_eff]: [0.0889, -7.0906, 2.359, 1.5507, 0.0317, -0.1929, 1.409, -0.0752, -3.0974, 6.3658, 1.1306, -0.0317, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e187d2a08fa06be69bc701eea7b60b5224b30b5b185feaad74dc24458e38b2aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91d73ee9fcffd4668c7801dd624ec19cf15f42b7381a8e9902c5613e6014d460",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e24cd4c5a1ccc29331481952935d829deddc6f9e432998baaa4b5b8bfa139fc0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 10.2 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3546, 1.9999, 0.4274, 1.2541, -0.4915, -0.1646, 0.9971, 0.0383, 1.1259, 0.9928, -0.9871, 0.0814, -0.1242, 0.9953]\nstate[eef_state]: left_x=0.4092 left_y=-0.0588 left_z=0.0365 left_yaw=0.1483 left_pitch=0.2995 left_roll=0.0125 left_gripper=0.9971 right_x=0.2646 right_y=-0.0006 right_z=0.1558 right_yaw=0.0362 right_pitch=-0.5351 right_roll=-0.1502 right_gripper=0.9953\nstate[joint_eff]: [0.0342, -5.135, 2.5368, 0.8523, 0.0024, 0.4078, -0.0073, -0.0615, -3.1521, 6.5299, 1.199, 0.0171, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssTQ5ga0yOTYCWdiJDsVKumrLwxbpO3VY4fR2WAklkbjdcocnzPQeYISl9_M9V_Uz_g81r3Xbno4QiphzHRm8X0bX6u8PvcSKZw1wnJrX7fZ5g0FFEO4jj0A-AXlfCTPWU5eWOTvortNwVxxilK0k2T_3xgekldUBzuOCzR5jzhwhpllBj4YPogxtMu2idgzlK08pKUPvLJGLBoEqRrJuVAYGAuuj2Sj0YSfGY31CJrS6Xvl-l84KQ8dYLWj6TS06eLAiuhvjviX38AzfloNCAAMHgf6L8oPtM3Y4Rt8G1PjoA6Kvvcgu4nIumuJldudbNQU1tEBZP5aEqMACxvtww22FHVBPwKYoXstKSA0wsJ2naG0P3LdCAATgnm709mRCGJgkJ4gOvBEns1KnE3oB2MLHoGCDoglQMJy44jH4HHG3reExbK_3ew-MeSXWjy3Bq35VWlvHCcStjDmWMKOc1FbPwUumK9xOBIAJSLnC4LWks4ovsc5e-885exdAEkkCUP4LlH2AESaLKAKE3hkoh4H62M59zm9Xe_p-LkuaxvXz7-HSn7f6qJ3xFAXs814P9rtZxWjVhqHd5-rm-PWhTyUarhacpJA1NDFYHOQP32OdxYd8JQ44oHULpwCyiS9BLhauoB3nrX9VV_VR0SbBG8tpv6bso2Y2jyAoWx0ejBwVl11qRLaaXtSl-xIX3BE3kkoKxi_mtPNydIMBx-USQ_iHgeZA1uVcBcsrM1OWBe_NCX44YhU1W-btPQDord5UcYj8C-5XuvAX3p6tlbhqIXz7--JSs_S9MLHainJ_kRuciNhj0aQp5WkKg8DsbvfJL0-JCDXGJdlB4SBxo5TJ_RH01jaEKOGxMWyciyJE7oOThQdD49aMEKzP0IEbgXA47xqy3c7etGLxWmEXVNLAhIdcpOLqVyHXJnQaGsqNwdFh4ULvnWvLqJa4n1bAnxI16mECY_aRpOwosAxCxXoXZp-juDEvUcOWRt1R0fxJakU6W0FqTxllaYjlYOVLM93oGU-bghV0GA9cg9eTx1-reCrYh0nde419KD68YHkNq4pYI8po-HNLpiMAa-dYR-5ZJ13q77pH_B-Ec8WOZsYQ0mHDHevVcJ7DnCY7jhfvMX6yEmpK5gc4T0AiPPTK0o67d5PP2NqC8sPu3v_V_uS3dWLpjeuk3j3eaz0MXveHu7DE-nbCwb20VVIMxXvAJo3-X-w",
  "id": "rs_04ddc73f3b8d8cde016ab2c4ceb4f087d0ab73b4925338615f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_z\":0.15,\"left_pitch\":0.2},\"note\":\"The fingers have closed on a narrow section of the plush. I will lift and retreat slightly to check whether it comes free with the gripper.\"}",
  "call_id": "call_L7e7SyDzlwh1bXhV1Ic0L5bC",
  "id": "fc_04ddc73f3b8d8cde016ab2c4cf13b887d090dd55392d346206",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_L7e7SyDzlwh1bXhV1Ic0L5bC",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.363, 1.3289, 0.5045, 0.4095, -0.4686, -0.1658, 0.0532, 0.038, 1.1286, 0.9924, -1.013, 0.0814, -0.1242, 0.9953]\nstate[eef_state]: left_x=0.3808 left_y=-0.0555 left_z=0.1376 left_yaw=0.1093 left_pitch=0.2104 left_roll=0.0506 left_gripper=0.0532 right_x=0.2588 right_y=-0.001 right_z=0.1523 right_yaw=0.0358 right_pitch=-0.5641 right_roll=-0.1503 right_gripper=0.9953\nstate[joint_eff]: [-0.4171, -5.4085, 9.0051, 1.8584, -0.2857, -0.0122, 1.0281, -0.2393, -3.3299, 6.6256, 1.2527, -0.0024, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bc318546a3250161f4953d5d7a03c417b835f6a5f2871223046b0c801f6b621",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf6f3f3915818965d40dc7404f230312b88bd2f3941995b9ef3205f0cbfb9cf6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f473cf3419f6a6ef6bb8dd4081d02ea19ad8b25e147db84f8b7d9b35df4846f7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 5.617 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3328, 2.0365, 0.4301, 1.253, -0.4599, -0.12, 0.0444, 0.038, 1.1259, 0.9924, -0.9974, 0.0814, -0.1242, 0.9953]\nstate[eef_state]: left_x=0.4089 left_y=-0.0546 left_z=0.0221 left_yaw=0.1128 left_pitch=0.2624 left_roll=0.0639 left_gripper=0.0444 right_x=0.2622 right_y=-0.0008 right_z=0.1546 right_yaw=0.0358 right_pitch=-0.5458 right_roll=-0.1502 right_gripper=0.9953\nstate[joint_eff]: [0.0889, -7.0906, 2.359, 1.5507, 0.0317, -0.1929, 1.409, -0.0752, -3.0974, 6.3658, 1.1306, -0.0317, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssTb87PP-9YrX14b_E478Z1dSPsa_l48B_sXOTPN7zNGlA6FBbfivnpnyX0eVhG_B2i0pwGmeTEKpw4TxxgtIWXstuYj7MX9xnYmroiwGZpc0u7Nxpapmh5h00O5tWUfT9npxydmAixV67c1jBhGiZN_C-f0iV_yXpxOf8qb_UX8i4cl4rWLzCUTSqfDw-2u3YbDUOLouRJFZJ8d9tU4BwTwwUFN0CSSUnhiSxdXIdxNwgOvRuvWHkFZo25JxEeEmHAzqUeoUa9XT0qm56BDkatwluVVVOMq8Rhet_Gqv4E867PhX0DAuE5sM-coGzsPteMZmyQCR6eBYzAol3dHp1LtTV5WnGFPPjU05R0TPv0x-rEU4AKUbykKK17BUWlJejdrsUgY0ev1jCqqkydJuiSBLDPYICOB7Z0CuVFR777RhABdOydEU8dgRyHHn9WZZgC5Hcvzq_LwEWpz-emPfNaBOkpMdEJD9KuKoB_c9XbeJkUGb2hSG85jO_ShEgfoxR-06i0fSfgFwgf6_HqZmBjTgGEVx-EfSeq2fdvD123EqHn4zYjX_x3Tjg-FSRvnuWClmoeApkIK_7aYfZ1kbkncUTDUmVs8j7WdDCA-7JqwDCT6wWxVJmW8afmo08Usm74KPY1ry-pY7aIShhilftOFI42vmMv_1zsl9XaPEr-pvSNEgG2h_hYiy5UK19HKwRgRkC6nnwRt2bQuar58FDs1G6Pt4kS25pxtLyUyygtnFEii8dysRGu1gRjJdkG9TyDN48CJ6gF_6iBpCayvR03Ur4ITpBvBqvyJLfMyXg8iw-ntGpTLp0tZVzsBSvnTYiJjeJSma_Grxc5mer0a2fOL092E1X-0uz_5aaRJpFMkyjUcw6261wgkr3xA_mQDax2oyw8WhdsipocgxQTcqYld1DDjgfauFTm2Ea1pJp7X78Gd_oJVnCbaD2rq9-_7KsVb-3aHCW8yY41EfsVgs_yNeWHoksTaXyqGSJ-Pj7EWeKEapsxKhrXnKPqcvirj9VG6CtzzxChsxgXGpC8NtHAqe6wlXsw76skFJg39YYa-SRqUlpO3FXra5shlcHAcKthmaSmgqgB0d5-HzJt9uWmc1Grhm5fH8ZHdV7BeWkdhZUEvYGKy6ES9vQzGDSX4SL_JqUH0hcLMABcdi6IaJCDpeW5bjXYzpF17eJvPh5S47xEzfmzFzNAgUV0IELSYZ66mqhMlRDqQEZWNZS16Y5IRStbkIxdJHUj3FfcGglkQgVKc0WAv-CBq8HIu4HOxMDAVh9ul60qG-MCa9TN1A7xBlr8hCfdpXD2hwQ7X49v9w_omPos-tccPQDfr8W6rkqfkrBLgFjPii3lPOwalT0t0CI0dWm9eqRbphN7dEeh43K6NRLCXQJZC1EH_vwTtSj5J",
  "id": "rs_04ddc73f3b8d8cde016ab2c4d74fcc87d09a31c5b644920949",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.29,\"left_z\":0.22,\"left_pitch\":0.2},\"note\":\"The light plush moved with the gripper and is now off the table. I will carry it above the safe, keeping its dangling body clear of the rim.\"}",
  "call_id": "call_CPVeXXmNDn7UAq0rgk83LIqU",
  "id": "fc_04ddc73f3b8d8cde016ab2c4d9832487d09e01e6ae98e2e59e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CPVeXXmNDn7UAq0rgk83LIqU",
  "output": "executing move_to over 21 steps (2.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8646, 1.8904, 1.4727, -0.2413, -0.8848, -0.5041, 0.0588, 0.038, 1.1297, 0.9924, -1.0176, 0.0814, -0.1242, 0.9953]\nstate[eef_state]: left_x=0.4281 left_y=-0.2857 left_z=0.2068 left_yaw=0.0961 left_pitch=0.1798 left_roll=0.0544 left_gripper=0.0588 right_x=0.2578 right_y=-0.001 right_z=0.1516 right_yaw=0.0358 right_pitch=-0.5698 right_roll=-0.1503 right_gripper=0.9953\nstate[joint_eff]: [-0.6085, -10.5231, 8.8821, 1.2821, -0.569, -0.0024, 1.0379, -0.3761, -3.1932, 6.3795, 1.0427, 0.0024, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d156dad9a8731f1acf99ba9e47be80cb74e122675395c235fc921ee03eb8c2c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc978f34dfe8a501000002423b42f3961b40be349a4844ac75ed3929e79f4e2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fa14d3282a410be8fc208d4aca190484d1f44a66924d5f4988752a9f7c98133",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 5.449 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 77 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.363, 1.3289, 0.5045, 0.4095, -0.4686, -0.1658, 0.0532, 0.038, 1.1286, 0.9924, -1.013, 0.0814, -0.1242, 0.9953]\nstate[eef_state]: left_x=0.3808 left_y=-0.0555 left_z=0.1376 left_yaw=0.1093 left_pitch=0.2104 left_roll=0.0506 left_gripper=0.0532 right_x=0.2588 right_y=-0.001 right_z=0.1523 right_yaw=0.0358 right_pitch=-0.5641 right_roll=-0.1503 right_gripper=0.9953\nstate[joint_eff]: [-0.4171, -5.4085, 9.0051, 1.8584, -0.2857, -0.0122, 1.0281, -0.2393, -3.3299, 6.6256, 1.2527, -0.0024, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.085},\"note\":\"The plush is above the open compartment next to the yellow object. I will lower it into the safe.\"}",
  "call_id": "call_dVhA8Dwo2NZilzDhy61lmJvI",
  "id": "fc_04ddc73f3b8d8cde016ab2c4e2447487d08a2237a6e9a88455",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dVhA8Dwo2NZilzDhy61lmJvI",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8692, 2.0525, 1.2194, 0.12, -0.8799, -0.5087, 0.063, 0.038, 1.1297, 0.9924, -1.0233, 0.0814, -0.1242, 0.9954]\nstate[eef_state]: left_x=0.4228 left_y=-0.2839 left_z=0.0857 left_yaw=0.0832 left_pitch=0.1462 left_roll=0.0932 left_gripper=0.063 right_x=0.2565 right_y=-0.001 right_z=0.151 right_yaw=0.0358 right_pitch=-0.5755 right_roll=-0.1503 right_gripper=0.9954\nstate[joint_eff]: [0.1709, -10.5368, 5.8598, 1.7998, -0.359, 0.0024, 1.0281, -0.1436, -3.0974, 6.3111, 1.0623, -0.0024, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:946d69b4dcce5838398ae0da5a4d495093402d2cc5a8b157705d65af6f105982",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffb82514164abaef151448865d2a18d1200040a72caade59d392e59dabe9cdb8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6711f024d38014d225ab69e9472270f4beee9c11fff14ee570a02377c995ba3a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 5.822 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 81 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8646, 1.8904, 1.4727, -0.2413, -0.8848, -0.5041, 0.0588, 0.038, 1.1297, 0.9924, -1.0176, 0.0814, -0.1242, 0.9953]\nstate[eef_state]: left_x=0.4281 left_y=-0.2857 left_z=0.2068 left_yaw=0.0961 left_pitch=0.1798 left_roll=0.0544 left_gripper=0.0588 right_x=0.2578 right_y=-0.001 right_z=0.1516 right_yaw=0.0358 right_pitch=-0.5698 right_roll=-0.1503 right_gripper=0.9953\nstate[joint_eff]: [-0.6085, -10.5231, 8.8821, 1.2821, -0.569, -0.0024, 1.0379, -0.3761, -3.1932, 6.3795, 1.0427, 0.0024, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The light plush is inside the red-lined safe. I will release it beside the yellow object.\"}",
  "call_id": "call_5jOr7J66owFQFm780mOA8TJs",
  "id": "fc_04ddc73f3b8d8cde016ab2c4e87f6487d0b799c54ad38163d7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5jOr7J66owFQFm780mOA8TJs",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8692, 2.0747, 1.2034, 0.1116, -0.8799, -0.511, 0.9952, 0.038, 1.1316, 0.9924, -1.0321, 0.0814, -0.1242, 0.9954]\nstate[eef_state]: left_x=0.4189 left_y=-0.2792 left_z=0.0687 left_yaw=0.0794 left_pitch=0.1193 left_roll=0.1293 left_gripper=0.9952 right_x=0.2546 right_y=-0.0011 right_z=0.1497 right_yaw=0.0358 right_pitch=-0.5862 right_roll=-0.1503 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -12.7521, 7.1863, 1.4872, -0.3736, -0.0513, -0.0269, -0.1846, -3.0701, 6.4205, 1.033, 0.0366, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b24fb8aee816e230f5212a5a5b7468d79ecc6daba7c03c3bea2d4eda055c74d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16326362372aa94308937e04d0b4447716342871863205f74e6d8ff2e962d24b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df05a3eaf567bccbf21364026d7e21004bb547632e324e096d79031e1a244ab7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 4.835 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 84 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8692, 2.0525, 1.2194, 0.12, -0.8799, -0.5087, 0.063, 0.038, 1.1297, 0.9924, -1.0233, 0.0814, -0.1242, 0.9954]\nstate[eef_state]: left_x=0.4228 left_y=-0.2839 left_z=0.0857 left_yaw=0.0832 left_pitch=0.1462 left_roll=0.0932 left_gripper=0.063 right_x=0.2565 right_y=-0.001 right_z=0.151 right_yaw=0.0358 right_pitch=-0.5755 right_roll=-0.1503 right_gripper=0.9954\nstate[joint_eff]: [0.1709, -10.5368, 5.8598, 1.7998, -0.359, 0.0024, 1.0281, -0.1436, -3.0974, 6.3111, 1.0623, -0.0024, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssTwSh82c4MSVLG1DjFaMZwmrgP__HFDguRUI2zrqi9F_Axw-oeQDF3HYsBd7NRYe26GAM3xRGYJlT_jYzm3dXqMXNP8Xo4I-TSi_Pdv0Wf5eMNwgydxYPxG5zdjkxU7Arf45_32nrIpq0ypPRgqkS7Ntt5R-zZPK37mB1CrPIryIlJ96_QJnnAoH7WiEyVFqxM5kyOcSupSXXJEAImJS8k1hR96yIP7YNRCzmhhPE95CB6ycsmRVHy2JWTaWqH_gvc-G628Y9AYacIPSmgS-yjan4ZHI8DFci25rNtPAYfyqGlVr-WScGCp4_8vJKjV_dS2dxBCrruKw7W7D3dzu7ifJgtTkI-XY-dofrmM5zxNLXN2vfREfq5r6MFKHgzkORfE2bwtGdZirnF_CUX2t9Zhv5qgr87FKrR-IRq7fN-keTofCuv4ab88Er5AMjQ3UxpdydKsiL_0i325zceOUtxhkhbMNFmhPymDp716Cc650wehxjXJM619PuWrXHyB1GJ2Od-nIYbs22_mJUJ2bfvjyqvhr8ieZMuGh2heaicW4Dsk9lbdtM0atc-tjt_pVWzSwgYye7lCY-vFoWgR6Z-3CbiB_-n73qdmvJThvwmfBRz76kGBoSVADtcTb4dYlg5EKJpLtK88i4LjMLz6nRxDlnAa-qkKU7olIpn8e44G9qrOffwg7H06xVWesZcVfEE_h_jSVtwxL9U3ptYAeTe0665VtjrR8up0LYK6q2IV807askJQT_DU3a6UqQNFW_to6UOURlE3ni5CK4OusAY0H4fyDXKNJN1FaUYz_qdm3gg8P3MC5YY6ihpLJVnYcWq6-qdePuLAMHKrCWQeQhLJP4FP-SyJhSGAG7jW2Ua0m-RtNMkKB0uZa9P4DHRdeyQIxpjNbQL6swqgpo1f2_S04HGhVEjrbkQyjOIyVvXO_mtQhUdldgV3EoIYHDryH-fMrE06mO6xQ62PoN3bWhtT6Evro_CIF_Eo6G-34R_Z83N8-4fzJqo_PIZ1jqlQBHQyXEFuq2iv-D_88cOqK9xFuiSuXyGyJKMVDjICuysLg7LChjbOzTCP5PGlDKd3B5nPmKl9NZKTwCacwNBnEDR_1sSieDIZTg6jtDWXdWcJH2AT0twvYZ0UKsJgPY2iid-wXpcl8UOadYsUbThTW7KnNEbz315s6CTOONTmf1zqCKY7fPvAq93G2U2PJReHGc_McTnbIySl_feYGGYXuZ9YrVamVbBNBBiurd7ZCEl12V6S8LWRhHQvFhb0bKyWlz7D2GMs3jBqAy-3jQZHfDS58WbOlAH2CXAhB6bET7uTOjU=",
  "id": "rs_04ddc73f3b8d8cde016ab2c4ed202887d08e7f9c6eed58e03c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.26,\"left_y\":-0.34,\"left_z\":0.17,\"left_pitch\":0.2},\"note\":\"Two objects are now in the safe; the brown plush remains in front. I will lift clear of the rim and position the left gripper above the remaining plush.\"}",
  "call_id": "call_GZ1ETeLJ5cw7XsFHtFVTnhAU",
  "id": "fc_04ddc73f3b8d8cde016ab2c4ee82f487d0a603485b4d94f4ed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GZ1ETeLJ5cw7XsFHtFVTnhAU",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.3037, 1.9488, 1.4384, -0.7471, -1.1416, -1.1213, 0.9963, 0.038, 1.1316, 0.9924, -1.0386, 0.0814, -0.1242, 0.9954]\nstate[eef_state]: left_x=0.2652 left_y=-0.347 left_z=0.1536 left_yaw=0.0519 left_pitch=0.1674 left_roll=0.1205 left_gripper=0.9963 right_x=0.2531 right_y=-0.0012 right_z=0.1491 right_yaw=0.0358 right_pitch=-0.5927 right_roll=-0.1503 right_gripper=0.9954\nstate[joint_eff]: [-0.294, -10.3316, 8.0889, 0.7448, -0.7204, 0.0317, 0.1001, -0.1026, -2.9197, 6.4205, 1.033, -0.0171, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da2461cd0010d715cbb65ae9436e8e33a24a58bba383c76016059ad63b0f2ae5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e51ff6103ebf6d8e9d88fa3d9ef206c43a6d57128c9984d1aac1111b0f407a4a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a00d2b769e1c1478f93a2f23485eafe3c2e37f6251413637cbd7bad362533818",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 7.289 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 87 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8692, 2.0747, 1.2034, 0.1116, -0.8799, -0.511, 0.9952, 0.038, 1.1316, 0.9924, -1.0321, 0.0814, -0.1242, 0.9954]\nstate[eef_state]: left_x=0.4189 left_y=-0.2792 left_z=0.0687 left_yaw=0.0794 left_pitch=0.1193 left_roll=0.1293 left_gripper=0.9952 right_x=0.2546 right_y=-0.0011 right_z=0.1497 right_yaw=0.0358 right_pitch=-0.5862 right_roll=-0.1503 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -12.7521, 7.1863, 1.4872, -0.3736, -0.0513, -0.0269, -0.1846, -3.0701, 6.4205, 1.033, 0.0366, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssT2YGxi0D4m5j6hj8poLwcudl1bU17ErLIdFejDVw2M4EwBf_uEDeka-tbqs7xEuMF_AqvFuqG9ADU5rPveo3AOsu1UXdOLtNWuONPItfxFz7KZEz9jOEh83LDCjOL13MDN2LzL64drH9OHe_K78r-JZljPsnFmRcCMlD5Pkv8fdRePL7rwlqjuvDxJHRVl803y_x9vfCc0xfEExeo6m2Gr4puuc6xqRNVdCtwSjgGwar8eCqV2TEXrpSndEQsPVuaNRp4S8NwrL-r1tmW3lrK1WbCL7gYHGtfo4SP7kN8kXjZv2mUHOqmqH5g0zlqDLZD8azQnPgXJfrefAF-pAWNXxcG-cM1Xpyr91oWoAqogUGjDgXcPaerMFWkSNJArvSZ9UWozDd-gpbadgWfGqTxQrQU6O8qGgx7dplwynu1j5eKHiuPmKGWyzoA1f3ugRK5VGkDTg4P-fYPcMel6eimH5TN3mvEMX36DR5OKm-lkXqp3PVK2K7aoJ2NcQyQ8qHTXBYl7sW8Bagja_hjPXCwfhKU8-gyoQswHP8VzTt6UQnn8jf63YTA-BCnDVSH7wQew56_XVrGCZ9MJphEEG46kCsOyQ0JFTJJIYzASsDeTd05dY-GMpxnS3Us8qmmVn8CCA9gHmTm4uBY8fbtDX6ppX9_Ywg47MnzegJDEtLJZrALPA2R5TDzyp3cR8TpzBUy4gNTe2rDgsjO5h9F0gi5-pNN0UwOwsISiVjjPzfn33ROVGkxtd__Bh5XoVeq_sn5V86V_YQhHbNLrsRwj0BxCb6V0WV93fy4lV61umOUKzrAYtg0HLDs2_hOsbX2Vlp1-iDQJaK3xXJvFa6lOkFGnqCjakUijN-hIR79jO8lkj1ffLwpQ6333DetsGcdy9_Mql14hamfNWoImSmUzd9smXUy9htrEb-6_3eH48DPQ8fLk7NN4f6F8YCLnQx7Cr42eo7mM2FmfdCC4M8mV0W6pPswBlKYlmQpropOSNtxwihyEbBcnuxwzEXvG3LupVvjxlErm4rE4ejerXglv1KS-pyhX9sdPHX_BHDzWPjbi-y_jVzPtY6mkZjm8E6Eo21rb_rCV9BJGXH6vK9HR8fyVDaq3AdZNci1Y8pzj3fJt7_VUl7uAy5qvgnbNQkdIUYT9zPyMYV49O0QYZMIycQEyG4e-Hy23whh3Dnr0XW_D--AyfZ734SQ4wQxx29BdRXgyki8eAyJ8e2p7rub00Y4Yn6T9a9WfcOInowtOcSQzWP4=",
  "id": "rs_04ddc73f3b8d8cde016ab2c4f4336487d0b32e7d970e733060",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.26,\"left_y\":-0.32,\"left_z\":0.025},\"note\":\"The brown plush's torso is below the jaw column. I will lower the gripper around its middle with a small lateral correction.\"}",
  "call_id": "call_JrPvXSXrVWoofZutbLSJolm1",
  "id": "fc_04ddc73f3b8d8cde016ab2c4f4f57c87d0b66680b21856a222",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JrPvXSXrVWoofZutbLSJolm1",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.3018, 2.085, 1.0904, -0.2951, -1.1339, -1.1076, 0.9965, 0.0383, 1.1316, 0.9924, -1.0389, 0.0814, -0.1242, 0.9953]\nstate[eef_state]: left_x=0.2571 left_y=-0.3168 left_z=0.0302 left_yaw=0.0392 left_pitch=0.1521 left_roll=0.1632 left_gripper=0.9965 right_x=0.253 right_y=-0.0011 right_z=0.1491 right_yaw=0.0361 right_pitch=-0.5931 right_roll=-0.1503 right_gripper=0.9953\nstate[joint_eff]: [0.2667, -9.1692, 4.6838, 0.8523, -0.5592, -0.0171, 0.0073, -0.0615, -3.0701, 6.2974, 0.9597, -0.022, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0bbb472e0e49697de4d157e0734896dca0b074c733df39661779deb064500d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09278fbb1714ba7e05ea606d742745c779d5b9e65df14c83f4764c152587b2f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8a29b8e9054a9cace9159639f04a609b203d578253697aafcbd15beed76b71c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 6.3 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.3037, 1.9488, 1.4384, -0.7471, -1.1416, -1.1213, 0.9963, 0.038, 1.1316, 0.9924, -1.0386, 0.0814, -0.1242, 0.9954]\nstate[eef_state]: left_x=0.2652 left_y=-0.347 left_z=0.1536 left_yaw=0.0519 left_pitch=0.1674 left_roll=0.1205 left_gripper=0.9963 right_x=0.2531 right_y=-0.0012 right_z=0.1491 right_yaw=0.0358 right_pitch=-0.5927 right_roll=-0.1503 right_gripper=0.9954\nstate[joint_eff]: [-0.294, -10.3316, 8.0889, 0.7448, -0.7204, 0.0317, 0.1001, -0.1026, -2.9197, 6.4205, 1.033, -0.0171, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The brown plush's body is between the fingers. I will close the gripper to hold it.\"}",
  "call_id": "call_7Ne3IYVQo5ZShtJvxW5g4gj4",
  "id": "fc_04ddc73f3b8d8cde016ab2c4fd457c87d0bb557c79ac0c83ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7Ne3IYVQo5ZShtJvxW5g4gj4",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.3018, 2.0991, 1.0805, -0.292, -1.1423, -1.1076, 0.019, 0.0383, 1.1316, 0.9924, -1.0389, 0.0814, -0.1242, 0.9953]\nstate[eef_state]: left_x=0.2566 left_y=-0.3125 left_z=0.0244 left_yaw=0.038 left_pitch=0.1552 left_roll=0.1858 left_gripper=0.019 right_x=0.253 right_y=-0.0011 right_z=0.1491 right_yaw=0.0361 right_pitch=-0.5931 right_roll=-0.1503 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, -11.0838, 5.5453, 0.652, -0.4762, -0.0073, 0.8816, -0.0342, -2.8786, 6.2974, 0.9451, 0.0317, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf8db72d1def01f9f47a54175db7da89b864dfc25db5724e5fc991730d06be5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fee6df5c119828e772a0a4e6c2aa6ca05f82c23c2847e3764d63a7a443c5b64b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:156cd6453c110c1acb376ad27235088b18d0bbf84e79c651eaea196e59e48f85",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /responses · status 200 · 5.46 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 95 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.3018, 2.085, 1.0904, -0.2951, -1.1339, -1.1076, 0.9965, 0.0383, 1.1316, 0.9924, -1.0389, 0.0814, -0.1242, 0.9953]\nstate[eef_state]: left_x=0.2571 left_y=-0.3168 left_z=0.0302 left_yaw=0.0392 left_pitch=0.1521 left_roll=0.1632 left_gripper=0.9965 right_x=0.253 right_y=-0.0011 right_z=0.1491 right_yaw=0.0361 right_pitch=-0.5931 right_roll=-0.1503 right_gripper=0.9953\nstate[joint_eff]: [0.2667, -9.1692, 4.6838, 0.8523, -0.5592, -0.0171, 0.0073, -0.0615, -3.0701, 6.2974, 0.9597, -0.022, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssUFsEom9ucC_-F_8S3FcR8cbEHKCAYhyFP2qWkSns-vzvmwzgDYvvJAfn2h73aTneZ-0-Q2_7obvpirs5aHBSI-SPxhwk8UFuGAf1C_7kHwuMzJcIY_ITMe3PpMNZAAkcvKbEt5aJw63FHKx7YQj5DbUPNXaCiZrzgcIXymwIMGtNKt2BIc5x5nNTx1kx5o5G87jhT-En5KC5_c9dIRhG-DXnFuD8P_trpr-DmDZaxsAlS4Cw7-0jMWKH7KfMEwyMyipGKl5L8MSxZb6Y1axq3nPdtAz71UyO5uI4Dp3kaI_4ajGREfq0zjG3Rd711gEJ7nphg-YdDoJ9u_b9TWHkO_KK1iuBG7fKpfF9TEsa8jixjCN7QIIbpy5pCgn10t7wzGYorlxQDBLr2Yh8eqcFglMwJaWYu-d_AxmpVcNkvWUE2iiVHlKuXSt15K3_zmb119FMqJigeCwjotECrU162hkej-RBVHj4YfN5vkmHKBm4I2x1x6AB2S0xvlS480iRUP6lRGsl6q-UcycPKN7U_LM0STUC73gTIqFbf5ZeSLtfDJHmXh0P7-1IKXU8EUom8mHiwtPXvr_oD1YpRu3vUy72NJS_28WvHS9mZwKkFHy3hPPV7L009Qi51ya6vVYiihhoFbP5rcRZHENNwp7gtFZRFPYGU9iyhAbfXPut283Qd0NE9O89fW_reorq-Pb1R0u4FCbJ0eG0O4KL4bPN-HoJZBm-jgO3VGCJda6CFqW97a1thvWURBoCZISx_a3Zl7LxxGt9clGXEvTGU-kU9ec1HSBQj44YUAIQeGHeVkgNf9LOf_HVAhdvlvnL16SP5vTNc0H7WjW-YDi4EEQ_zKSb0MGeIBldfq7xtwOfabT2F3-m-xR56k4pVM5ohk1TJ46xRrLDzgrlJDaDk79fHGhU9cugahciwRK9Euv-9akVS2JtAJyjWUX2uyU5f3e28CVKupZvXmiQ6V5a0T6VJuEn01NddR6vFqZcETBPql-7xpsYFYZL4lQSLVx402oN2GIFUZR9jPjsMPfJw0Y68gmFucQbIHKwreLI8YpgiC4PAjWCiJgH_TkVIU9NLCvGZnWnQruww_t167wg1badznqTgcutpcY9vkqIf3LgpIXXrxsrSGjggSQw4vHYbvt8jA_nmuD5Y3SvTARq1C4NnJftJT5w4bL05TUE-Gb1Euj32wseyIkQ9kwk32L-PwGe2bZ2gXtFj2GETibKhpdh5YqRdnCx9r0ssJoMJKL-DL3pU=",
  "id": "rs_04ddc73f3b8d8cde016ab2c5033e6087d0a33ddeabe0602708",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_x\":0.30,\"left_y\":-0.34,\"left_z\":0.03},\"note\":\"The fingers closed empty in front of the plush's torso. I will reopen and move forward and slightly right to grasp the thicker body.\"}",
  "call_id": "call_4GoWSwSRYgiqulsYnbmvqi1m",
  "id": "fc_04ddc73f3b8d8cde016ab2c504041c87d0bcd7bd1c114aa87b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4GoWSwSRYgiqulsYnbmvqi1m",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2182, 2.1601, 1.1942, -0.2001, -1.1187, -0.9524, 0.9953, 0.0383, 1.1355, 0.9924, -1.055, 0.0814, -0.1242, 0.9954]\nstate[eef_state]: left_x=0.2952 left_y=-0.3318 left_z=0.0289 left_yaw=0.052 left_pitch=0.1556 left_roll=0.1816 left_gripper=0.9953 right_x=0.2495 right_y=-0.0012 right_z=0.1467 right_yaw=0.0361 right_pitch=-0.6129 right_roll=-0.1504 right_gripper=0.9954\nstate[joint_eff]: [0.335, -9.7846, 7.2274, 0.9695, -0.5006, 0.2466, -0.1245, -0.0479, -3.3709, 6.5983, 1.0623, -0.0171, -0.0122, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d97dc263d4e77dfef46040a3a14c592e86f1bbf537975c1c360995abed5f0b56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3891d652f6d91c272cf30905e2df00871b493299e9981291f5adf57a184cf4a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f28a7703bc23af052677617fe0b5f617c9026ab6bc3d018536ed1e721776f2bb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 3.959 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 98 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.3018, 2.0991, 1.0805, -0.292, -1.1423, -1.1076, 0.019, 0.0383, 1.1316, 0.9924, -1.0389, 0.0814, -0.1242, 0.9953]\nstate[eef_state]: left_x=0.2566 left_y=-0.3125 left_z=0.0244 left_yaw=0.038 left_pitch=0.1552 left_roll=0.1858 left_gripper=0.019 right_x=0.253 right_y=-0.0011 right_z=0.1491 right_yaw=0.0361 right_pitch=-0.5931 right_roll=-0.1503 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, -11.0838, 5.5453, 0.652, -0.4762, -0.0073, 0.8816, -0.0342, -2.8786, 6.2974, 0.9451, 0.0317, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The open fingers now straddle the brown plush's thicker torso. I will close for the corrected grasp.\"}",
  "call_id": "call_klRhYE6RNa2qll5w3Zsj0aob",
  "id": "fc_04ddc73f3b8d8cde016ab2c50a8cdc87d09dc15ecf62fd0389",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_klRhYE6RNa2qll5w3Zsj0aob",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2171, 2.1677, 1.1976, -0.2012, -1.1339, -0.9543, 0.0361, 0.0383, 1.1351, 0.9813, -1.0573, 0.0814, -0.1242, 0.9954]\nstate[eef_state]: left_x=0.2964 left_y=-0.3304 left_z=0.0289 left_yaw=0.0587 left_pitch=0.1676 left_roll=0.1892 left_gripper=0.0361 right_x=0.2467 right_y=-0.0013 right_z=0.1429 right_yaw=0.0361 right_pitch=-0.6259 right_roll=-0.1504 right_gripper=0.9954\nstate[joint_eff]: [-0.1846, -11.453, 4.6154, 0.8425, -0.3736, 0.0611, 1.0232, -0.0068, -3.9179, 6.2291, 1.0623, -0.0024, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:068ebac7766d4c568d415f6e3300171ac3e415260f3b030174efda875b363ab1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48029615e7d6ddbc8cd69fd0db4d50feba60d7b8fb8e49e35d64786962b31b40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d44b0a9aaec71df07322abf443a0e39eceb7b52afcddd35c07e091a6da7743d8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 5.562 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 102 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2182, 2.1601, 1.1942, -0.2001, -1.1187, -0.9524, 0.9953, 0.0383, 1.1355, 0.9924, -1.055, 0.0814, -0.1242, 0.9954]\nstate[eef_state]: left_x=0.2952 left_y=-0.3318 left_z=0.0289 left_yaw=0.052 left_pitch=0.1556 left_roll=0.1816 left_gripper=0.9953 right_x=0.2495 right_y=-0.0012 right_z=0.1467 right_yaw=0.0361 right_pitch=-0.6129 right_roll=-0.1504 right_gripper=0.9954\nstate[joint_eff]: [0.335, -9.7846, 7.2274, 0.9695, -0.5006, 0.2466, -0.1245, -0.0479, -3.3709, 6.5983, 1.0623, -0.0171, -0.0122, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.11},\"note\":\"The gripper closed narrowly on the soft plush. I will lift a short distance to verify whether that section is held.\"}",
  "call_id": "call_ixTFUuZScaVSfnr1jEsKe6nA",
  "id": "fc_04ddc73f3b8d8cde016ab2c50f7a0487d0976a2a2cc4fc0026",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ixTFUuZScaVSfnr1jEsKe6nA",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2179, 2.0453, 1.2713, -0.4297, -1.1191, -0.9699, 0.0371, 0.0383, 1.1221, 0.9588, -1.0569, 0.0814, -0.1242, 0.9954]\nstate[eef_state]: left_x=0.2944 left_y=-0.329 left_z=0.0812 left_yaw=0.0565 left_pitch=0.1467 left_roll=0.2021 left_gripper=0.0371 right_x=0.2417 right_y=-0.0015 right_z=0.1382 right_yaw=0.0361 right_pitch=-0.635 right_roll=-0.1504 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -13.1897, 8.212, 0.8278, -0.6618, 0.0952, 1.033, -0.1983, -3.8632, 6.2427, 1.1306, 0.0122, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a8785ee280c51dc71d9372d5079e71bba497aed207c376747a09a561bac6186",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26a3c006087d7626051391019eb60f7e15d7d4b5ce81c58341083402d294c7a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72dd53d61c5b0f73a89ba348ca745afb7c9b329e315ce8434ac32c5de79b50de",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 3.677 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 105 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2171, 2.1677, 1.1976, -0.2012, -1.1339, -0.9543, 0.0361, 0.0383, 1.1351, 0.9813, -1.0573, 0.0814, -0.1242, 0.9954]\nstate[eef_state]: left_x=0.2964 left_y=-0.3304 left_z=0.0289 left_yaw=0.0587 left_pitch=0.1676 left_roll=0.1892 left_gripper=0.0361 right_x=0.2467 right_y=-0.0013 right_z=0.1429 right_yaw=0.0361 right_pitch=-0.6259 right_roll=-0.1504 right_gripper=0.9954\nstate[joint_eff]: [-0.1846, -11.453, 4.6154, 0.8425, -0.3736, 0.0611, 1.0232, -0.0068, -3.9179, 6.2291, 1.0623, -0.0024, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssUXlqiK3hXG3wAg9i01dQfHTfz7tkqF1b1maLFgQJLjYjVPgIzyHHMM3OgY29cmLlMYcV7sM_8iAnz1s7NlH0ID5ZDY77HBRgAweTaM4LN2NcmWmy3aH375LhWNDIxBOrvKFaAj162EbJpchO0LLF4YSSGc39U3M7ml4W7pwHjZqdBaDXog-wvAevDSpWdCryhiYfb24QhQlhwp5N6C0T0MI3B66ey0HZgoU2heNd5PongD-jm-2b3O5IuwGbHUAhpp-hFQ5A9z28UBBUdqXUQfqZr4c9HCNAOO86GMTf_276np4T2ErGBawkR3nA3evDMgC_XSImIw4AF4Rd_zTsx2rnok-Ru78vfqA7zS5E-P08HuxbgKoyiY_g5ZX4J_rEiJEiEpbStXu_I2dLafV6cLD5BNcNvsu5QiwH_WPFV_BptMJXpYNuOFTehKR98x4QNcHf2dNiSFAOqoY4u9rmLYywnEBsn6kDxp7kqaBL3yNGSU5drpQy_YxOU1Tsd_Amh_m0QqzVmECYIwxDCouWR36WFXGKczyRMxezMXSqOhibTfkX07uqKI6HZwj3baBt7EGqHcjaD_8czOqba16jSysVgRm5Ulw_4mjIFLZC8gSE7sum-kig3EfngkZzYtYtZ3UsO9EKwBf5H4o4JpXkz0dsGMtaLjU78mQ5hwDSqo490644yBKikmjmtbJULM92rDkzXw_0KgyJ3J_BN1BoOI0jKcaVE0BlwTvAwTCRmPnX8oFYOT0mzvVqsHJJpw2D0f9_IUoh39oZu-ePQ3ufCoFuJsfNidl68pKo1c1TMwu5VtRR5TpJmzoTQoM8JHUV22jAHd7p12OFxJAvdMLV2_vAMQgzP5YNCuUdF4N2B9iQ3BpmhC0Ngcxu1cF3c16_cweTFRXejGVezEce6TPsyOrEs3bg2uH63K-4vav3lgHhXMF5SgkjhjmLBNMQLH_63LhwIlmeQ0N5juawmjECLlKXSzG_Tf4eyYo3OXI-qb2pMGIRS2HAmRbi-6NKEb-Gokqp4f0Fqu3ZnqlEBvKKPDrW6ioxRx4FGn4mcmZi6UsJwP9bmlBj4SGdJPhDQLiAQ_ahDhEiDnu5AiyiU8U4Mcyi4k4uxtcsOrQrCDM-s16bUW4uwGslfdIbuATGOR57naFoEZ_Edl5m67e248ARX_VIdh-pa91EzD16I3czg6bWNwrAdDRybJzNrMeIVJ2092lhvIg47H_Og9mRg_1TKLAEzJglhO8cdXzXkOU01vMS4K0KCnRv6fYBnjazB-zCsRP9NvD2Hi7Ig70lSJdehwuy8iFOp7lklwnmcZSSLj6jZ3qouSUvqKehs_Jzo_ozmKBPCMpgYEqjZC0Yi0f9mw-Q==",
  "id": "rs_04ddc73f3b8d8cde016ab2c513d73c87d087b8035792915d4c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.28,\"left_z\":0.23},\"note\":\"The brown plush has lifted with the jaws. I will carry it above the safe with enough height for its dangling limbs to clear the front edge.\"}",
  "call_id": "call_dkWfurxTQgFWFSbCd49CRpCD",
  "id": "fc_04ddc73f3b8d8cde016ab2c515791c87d08b05fe151d6d6820",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dkWfurxTQgFWFSbCd49CRpCD",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8909, 1.9182, 1.5257, -0.4377, -0.9405, -0.5018, 0.0378, 0.038, 1.0977, 0.9272, -1.0496, 0.0814, -0.1242, 0.9954]\nstate[eef_state]: left_x=0.4135 left_y=-0.2788 left_z=0.1935 left_yaw=0.0856 left_pitch=0.1136 left_roll=0.2207 left_gripper=0.0378 right_x=0.236 right_y=-0.0018 right_z=0.1335 right_yaw=0.0357 right_pitch=-0.635 right_roll=-0.1504 right_gripper=0.9954\nstate[joint_eff]: [0.1983, -13.1077, 9.5248, 1.3358, -0.4274, 0.2759, 1.033, -0.0889, -3.494, 6.3795, 1.1013, 0.0269, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b390e3191ce6a6c5ecf0a959f02e2521946b029dcd43dcce5d9a20a5e0a666fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40883ddeb4a7c1aa13b448ce5c5fa666c97745e7cb9d1f0b50504c30718b579d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd83daa5160e733eb0ae3b828c74e712d9293d1918b10bf1b8fe426d7ed42e59",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /responses · status 200 · 3.799 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 108 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2179, 2.0453, 1.2713, -0.4297, -1.1191, -0.9699, 0.0371, 0.0383, 1.1221, 0.9588, -1.0569, 0.0814, -0.1242, 0.9954]\nstate[eef_state]: left_x=0.2944 left_y=-0.329 left_z=0.0812 left_yaw=0.0565 left_pitch=0.1467 left_roll=0.2021 left_gripper=0.0371 right_x=0.2417 right_y=-0.0015 right_z=0.1382 right_yaw=0.0361 right_pitch=-0.635 right_roll=-0.1504 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -13.1897, 8.212, 0.8278, -0.6618, 0.0952, 1.033, -0.1983, -3.8632, 6.2427, 1.1306, 0.0122, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.09},\"note\":\"The brown plush is over the safe's remaining space. I will lower it onto the other contents.\"}",
  "call_id": "call_GOvZ0z25zEKnxwq3j5S357fN",
  "id": "fc_04ddc73f3b8d8cde016ab2c51a9cb087d09d0bb9d48ad37bb4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GOvZ0z25zEKnxwq3j5S357fN",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8906, 2.0315, 1.293, -0.1417, -0.9306, -0.5018, 0.0378, 0.038, 1.0733, 0.8955, -1.0382, 0.0814, -0.1242, 0.9953]\nstate[eef_state]: left_x=0.4091 left_y=-0.2747 left_z=0.0927 left_yaw=0.0758 left_pitch=0.0792 left_roll=0.258 left_gripper=0.0378 right_x=0.2314 right_y=-0.002 right_z=0.1291 right_yaw=0.0357 right_pitch=-0.6309 right_roll=-0.1504 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -9.8256, 5.8325, 1.3993, -0.5104, -0.0562, 1.0379, -0.3487, -3.3026, 6.5162, 1.0672, -0.0317, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6e5899bc3e1aa8e069fe0475438c46309aa2e6b5220da2948bc07672c55290d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8623847e7d3dcb82eeda67e9627a3207d62407f2868c3a83532cc21201252aa7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:202966133df1b1267c57e94a2fe534c962eae9eca73cad19c4099532f1a5f478",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /responses · status 200 · 6.782 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 112 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8909, 1.9182, 1.5257, -0.4377, -0.9405, -0.5018, 0.0378, 0.038, 1.0977, 0.9272, -1.0496, 0.0814, -0.1242, 0.9954]\nstate[eef_state]: left_x=0.4135 left_y=-0.2788 left_z=0.1935 left_yaw=0.0856 left_pitch=0.1136 left_roll=0.2207 left_gripper=0.0378 right_x=0.236 right_y=-0.0018 right_z=0.1335 right_yaw=0.0357 right_pitch=-0.635 right_roll=-0.1504 right_gripper=0.9954\nstate[joint_eff]: [0.1983, -13.1077, 9.5248, 1.3358, -0.4274, 0.2759, 1.033, -0.0889, -3.494, 6.3795, 1.1013, 0.0269, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The brown plush is supported inside the safe. I will open the fingers to release it.\"}",
  "call_id": "call_KcqtxrkVrnRzveGekTNmchQz",
  "id": "fc_04ddc73f3b8d8cde016ab2c51f126487d0881393b836518e94",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KcqtxrkVrnRzveGekTNmchQz",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8906, 2.0499, 1.2778, -0.1425, -0.931, -0.5064, 0.9951, 0.038, 1.0523, 0.8692, -1.0321, 0.0814, -0.1242, 0.9953]\nstate[eef_state]: left_x=0.4062 left_y=-0.2711 left_z=0.0794 left_yaw=0.0765 left_pitch=0.0607 left_roll=0.2825 left_gripper=0.9951 right_x=0.2269 right_y=-0.0022 right_z=0.1251 right_yaw=0.0357 right_pitch=-0.6301 right_roll=-0.1504 right_gripper=0.9953\nstate[joint_eff]: [-0.2393, -12.2598, 7.1043, 1.2479, -0.4371, -0.0024, 0.0806, -0.0752, -3.1248, 6.3248, 1.0818, 0.022, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60b280e6a50b9dadc2060c9d2ef71fafdd326b5b16e837c17799498cc2c591ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e9eef0dbb8584ba3fae5e3e575a8999f4d9447d7f81c05b7dfbcbf9d988b4a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:692e02bdbb491f1108b5058b13ede255f6d73c2ea0f6c36f8292f868e0e85a94",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 6.632 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 115 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8906, 2.0315, 1.293, -0.1417, -0.9306, -0.5018, 0.0378, 0.038, 1.0733, 0.8955, -1.0382, 0.0814, -0.1242, 0.9953]\nstate[eef_state]: left_x=0.4091 left_y=-0.2747 left_z=0.0927 left_yaw=0.0758 left_pitch=0.0792 left_roll=0.258 left_gripper=0.0378 right_x=0.2314 right_y=-0.002 right_z=0.1291 right_yaw=0.0357 right_pitch=-0.6309 right_roll=-0.1504 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -9.8256, 5.8325, 1.3993, -0.5104, -0.0562, 1.0379, -0.3487, -3.3026, 6.5162, 1.0672, -0.0317, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssUn9mjRYkyHbf9YRzwBpRpLKpAeEz63Qupv-FJI4lghDCZHFaPJsrzpn0cBYFEGkNmqSzQoShOGoTLQkAb5cAYNqMW16JkrmITC3lzHyJUHey8jO3HECHJ2ZxVzYFU3O4JLbtzVh1IPtHtO8r4aX8RfVKi0b-6ozrjlyOwXQAF15ked03vWi40w-QrHyskl8ivY9I_7CDzFKEeMfYWoKq_najZBPabGaFnNxypmAYYzronwbkkUlrOU2uiTfsfZ53kP4sBPcQTQzvUPhYgZ0Ii41upPT9Tx9WyVNWFd4eUTZEXyWQTZDXSkp9ysw9zjf6d6ITeo-jX0HcP9iQrhety1UnTjxBqFMKcCgRtw3E79AokrF6YZg2VuadEIbV90Wqg1ED0lQEasrKQfzOBtI9hsuaCFJY-pOqhP2yezYZFhJzB8Vvb9wzZLzlwDPXvXNq3Q4LzapnNb25J0wyOTxEk_pecqi7NiAhC9VKZ3Otqylp6CbWCxShxKrZOjxF6jQ2Z2qWZ8yPGC3ZTtKwEteZF84nftMZaYe5faloQ0PYnyxmNLpFfXFIHIDdcHWc_e-xIQ3l4r3WndqGAPYQ6KBaV8QJ6-giykJNJj2DA06pHYK-tRvvHhz8QkIvJhIrhO8SMOL6d-r3WBKOMjm2IenABma8sRWY4u1DDJwv5QkppVGRO1DChGW1hii8zsx-sMAAuaXOOsWMrHlcc_JQpHeopu61UHOKKF9yF_-zldDGARkVhupiVdjK0_xeye4Gv_x9eI9Y5_yO3UXIz-GFnHq6mjth0uDbxgev1-cQxsXu54pHqme5LllsGJoocjcjW3SBOkwxRjJN3uxyuD6BAL7pDDBrCCLJulT6S3gvvKfddEfSLCPJM2jBApfCGOOllqBbcqeB0OLpymrKatzFEsRd2lTg-IfhsAbPAuCCi553jACUr6_249TtcCJm7dNJ5nooErIdHtJ2dgCI-lmsV0xcSpRA4jGknCuFc9FIM8mQPAk3HVkKIVas1rj8H6qHCrWkc3A9Wt52WfG0x1zoe31Rr-bH-MCOvgphgYqXP4kGynWWPA0ApCscPBBWcZh8TizAlRjB95wSfS_24DtZsbobLsZGDVwVais_Y2Cd_13FWRX_J1_5DrdRyJHC_BbMQkXWre6V_1Xs-JVkB1J3TFz2A7MAT0ToVrtmJHzy7x-ia_VjU10PndFoXvv733FBo9ytFCtpnJNsxwCsC1IDazCugGGz9QHx-lYXmLgHY-NA4DW8hSvDWmS8AUcTxg1WePzGse4Itwwn5_dSjzJVQtEAXI6btiXX-mhrxpcESoO_LRjfs=",
  "id": "rs_04ddc73f3b8d8cde016ab2c524171087d0bb353329148edc03",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.55,\"left_y\":-0.27,\"left_z\":0.29,\"left_gripper\":0.0,\"left_pitch\":0.3},\"note\":\"All three objects are in the safe. I will lift the empty gripper to the upper edge of the upright lid so I can fold it down.\"}",
  "call_id": "call_f9DM8hhvNDTyIZ2TJ7GEFVZA",
  "id": "fc_04ddc73f3b8d8cde016ab2c52530b487d0b4bd2d0d3879e14e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_f9DM8hhvNDTyIZ2TJ7GEFVZA",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6949, 2.2082, 2.08, -0.3187, -0.9016, -0.1223, 0.009, 0.0383, 1.0302, 0.8448, -1.0271, 0.0814, -0.1242, 0.9954]\nstate[eef_state]: left_x=0.5442 left_y=-0.2686 left_z=0.2749 left_yaw=0.1059 left_pitch=0.2884 left_roll=0.2613 left_gripper=0.009 right_x=0.2225 right_y=-0.0023 right_z=0.1218 right_yaw=0.0361 right_pitch=-0.6274 right_roll=-0.1504 right_gripper=0.9954\nstate[joint_eff]: [0.3077, -12.588, 8.8137, 1.3944, -0.1197, 0.2759, 0.7448, -0.1162, -2.7966, 6.4068, 1.0769, 0.022, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6249c304b0ec6c2765b3917d79609d6459b603a2ae3b3072594f4fbecd4ca364",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba532f0b750b0e7c01e537ec4bffa4419cb7f9519784fe70abfbec8eed9d3c04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df74baf1416a820b25971f7ef6856173e7c386577e4538345724d5ddf1f8d9b5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /responses · status 200 · 4.421 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 118 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8906, 2.0499, 1.2778, -0.1425, -0.931, -0.5064, 0.9951, 0.038, 1.0523, 0.8692, -1.0321, 0.0814, -0.1242, 0.9953]\nstate[eef_state]: left_x=0.4062 left_y=-0.2711 left_z=0.0794 left_yaw=0.0765 left_pitch=0.0607 left_roll=0.2825 left_gripper=0.9951 right_x=0.2269 right_y=-0.0022 right_z=0.1251 right_yaw=0.0357 right_pitch=-0.6301 right_roll=-0.1504 right_gripper=0.9953\nstate[joint_eff]: [-0.2393, -12.2598, 7.1043, 1.2479, -0.4371, -0.0024, 0.0806, -0.0752, -3.1248, 6.3248, 1.0818, 0.022, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssUvyT7S-9-sZWQASI5PlHsFXBiukByMjp-QGEsHlbV4g7tJ1DK0DkJlte9dY8uc1gxhl0-wawurUBHMkSVHApi0ZLzBwMnf41BouW6-shkDk78vdewpJva4WF9bJqx2cj_ze9m0bR7bhaxPCafe-DrNFthykDM8clnkGd70F1_ghJo1fktfDecG_0lyugk121Rz-AS69NoHcF5F0sUqbdKqfUlHzbAMA58emCH-aom_z-tRQDz8z32Ihb4uG0ZZjOyblkDXe2HCg74rOmpyE_eplcwsPfmVVVvBZOp-bumxwhb-_ocJbQkD39dJGcHYTx2-VrdsBYRwz9XENfLWJRgbkPagg4lHS6FbHgUco_Uhb_j8az9OLRQAh7UXRnspxVLu5hdsGvHVFbO8FFhn7M_MVtqNgLBVdYqFVA4VOZqm_9Hx99sBZ-vC1-DFW6acvn4ksa7zQfCFEmoqGynOlLOYF9HUO_tzg-bJduFyFL6LYXzHuF6BD9tx_r7d8MLX-NNbl1tWCBVGXVbOwD73F940lw2hQfGXGcd0HFHBpSjJEYPvVtnK6Ah6MEfth5fl2fhns093eHdA496Slt_Uq-F79WTvIGbLT7P4ttkkei25WNdtbGhYGluIaHLAbdWlQErE5aqQ9hZUFMcaUUgOWUiWjsowBw4kDVroSeFykZjrfWXgp7574PEFNSkGRuKXaA5MK_CuOC834-NKToub8mUDzEP7zs-fKmbTD5WKJ8YIBYxIROpo9mHtpUijpOMRZ4-YP3QSHh40yTrqJHcyr_5PUqLvP9Qkm8v0RKZYvT-iAl_QM-mUXW31yupqxYjs70wfm6lp2AQoPw2J7aH9l327wU3W12AC_C4p8YOnhh9M4W08v_Q4lKtireKkfyT2YnmtlovDwiJFgj_Hi9cJsuKzyoCwL4Bu3-gL88T7-dAo7JsA4zFG30Bd9TuPGcU2WisuO4L7GqlPzTZd3yfSGg9flduzdTwR74oCLVyGdr6gyGI8HI6SCoNbSTAAmNNij-UR1Oulk87dvMl-1nsx1ZdavuEqL9z_3xaknoswqF6KdPJoeoH33XVK9TLJh1YPdzTCHBYr8LiTIP1kkxxkkMfsvRwzJjE_KFFbZVYYY_nKDCHlLC1iQBXZzu6kwxHG_NLHboupdSZ-zw7X37IqXIZsMbCfgDL_Rq3j2cLMlJxU6HpfZLm4eqVvf92pCHJc4LJ8VDk8Eue9Mqn9KDMxIWfa1dzB5QZcGLqOIh_5E6d8LRDzBO6bkYXGFpgA7fa3vXlFnBGaBkPEwtMcYGlGQWWwbje-R5XDT6QwWbo-qoow12-U7Nwc4IkdemFV9b5REwETsxm-YYVKYbWvbK_TwGw2Qd5RQYfgavYsBLS5TnU8FOGB42ZBgVoTeUa05ngvQSZ3ZE3DDBAUVjCY6RgHPhz5MW6EjX75DPyYaReytExRSqI=",
  "id": "rs_04ddc73f3b8d8cde016ab2c52bb56c87d086a66679c6da0777",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.56,\"left_z\":0.2},\"note\":\"The gripper is above the lid's upper edge. I will lower onto that edge to begin closing it.\"}",
  "call_id": "call_bprEWvXLVVsKKNcwTyHOPy27",
  "id": "fc_04ddc73f3b8d8cde016ab2c52e327487d08c1c0d428ad0c7b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bprEWvXLVVsKKNcwTyHOPy27",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6804, 2.2501, 1.9091, -0.0952, -0.902, -0.1093, 0.0118, 0.038, 1.0115, 0.8242, -1.0229, 0.0814, -0.1242, 0.9954]\nstate[eef_state]: left_x=0.5557 left_y=-0.2668 left_z=0.2163 left_yaw=0.1159 left_pitch=0.2941 left_roll=0.2663 left_gripper=0.0118 right_x=0.2188 right_y=-0.0025 right_z=0.1189 right_yaw=0.0357 right_pitch=-0.6251 right_roll=-0.1504 right_gripper=0.9954\nstate[joint_eff]: [0.5949, -11.7538, 5.7231, 1.3016, -0.0611, -0.0269, 0.5641, 0.0068, -2.7829, 6.188, 1.1062, -0.0171, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7562d409e81d1c67314c500f44d0a3049395d427a2296647eb62523c85615c37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:520ba692683e73a2dd61ad62e43134215edc0f1b86a48ca1983bda4641571b31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05f44c633f54deee5d9828d84274486c26e31a01342f019fc379591e6d331699",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /responses · status 200 · 8.212 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 122 changed as sent

message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6949, 2.2082, 2.08, -0.3187, -0.9016, -0.1223, 0.009, 0.0383, 1.0302, 0.8448, -1.0271, 0.0814, -0.1242, 0.9954]\nstate[eef_state]: left_x=0.5442 left_y=-0.2686 left_z=0.2749 left_yaw=0.1059 left_pitch=0.2884 left_roll=0.2613 left_gripper=0.009 right_x=0.2225 right_y=-0.0023 right_z=0.1218 right_yaw=0.0361 right_pitch=-0.6274 right_roll=-0.1504 right_gripper=0.9954\nstate[joint_eff]: [0.3077, -12.588, 8.8137, 1.3944, -0.1197, 0.2759, 0.7448, -0.1162, -2.7966, 6.4068, 1.0769, 0.022, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssU09b6eI9vYzZyWDME_4utsAuPRmG8XL_LFOX3SsXMv1O5eDwl41XmxrZHW3wDVjeJZes71dW_Qpehw84zzOm16GgAQNk8DC-MZzo2_j-RSuDEsTndXmPvZXkGy5kQuxy_v6W0WXCzs-zXAWO25wh3Pd_c8JdFGPEjuZ6cliwkn00tkoz881PLeSbr7d_5eRDEZO5Xkjc-zZ80j6D4TE7eam-5kzDecQnhzb5SvA-vm7fbCzqv9v1olT2YVotyOKwQDvk4t3E6cX6aAmBekPKnfdF-nPPfSZN4KbyQK8oh5QBRTW_lWbEp_T-Jb7u9Tlvb5KB_-IhvsAxqgwZLAKDS1fRWXg0aqlp5Vk-WiX1qa1au3pyDkhWySFGq2ZXp0nDfoGVavqyZYJAmUjS9--3U8YJjC_IkDjN0nqRH8W3LFNFCK6G3PcmBxMoP9mHi_7eTtbMUmru1YE8-pJUeGEuOPdyEcPkDhYrfNijL8acvngydAz7Oejrh9kFc9fuRJhde5bZu4yevWJlJkIFG7Cjl6X1ttZBfDz4vSMSXxtQxqEvZ3lK_z-2K-wftxgSondueidqVi4K3Faoss6svkkDqOJSq_QvAtuhSO1ng_L45VPTrmOFdDpoa3suzGMpy3-dlMm-9HuyVT4XOQNzJESrvfpKvozxGjDB7tA-PExPPlaLOG1za2GR91D8RNvJV6lUJ4CcjFrZs3uW52nCUZJ3EudZXJrSaqQpUF9588a32Jbi1jK5RPzBHupVIzYtME8rnjwgzr_Mu-DyYiGUZluVHtfzzg3Z73LV5ZsQNcsep0pWhW64uX-BTIbbEFFtt4VKqhCGYkazXoine8X2-g5rluxuwlqhSl0HX2DWzdoFEqrHPClzL2CD1wFIFc3i4jYYFVNP66LF0uilNUaPhO2eUOoFi8smHsFpvBowtai9F4c92cJ8Gbz56Sz0abboK-85Ez1K6ERPgqQZEHE5XFx2YiYRlEIuZQXV3QlnPDhFhwA5vz_-n7Y9-1ue7_J60joelVWE8lMr27IbTJKXm275WXEg6z1wxNI4nBv_Q19m9JH5IFaIWoasv51c7Yf_xYrOn9fXfeQKkb_9LGC9dd35jyrkooRyYtxNNml79R3jLg3thaSGScM3RunWeABw4FJmD2OSC1urCjshWnEraiHkWe4NCq3Jp4gl32_fEq0FrGLsQnpBsjhjGfKvP8KbVzLKiz",
  "id": "rs_04ddc73f3b8d8cde016ab2c5324d4c87d09c311e7cdce0d66d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_z\":0.13},\"note\":\"The closed fingers are at the lid edge. I will draw the edge toward the front and down to swing the lid over the compartment.\"}",
  "call_id": "call_eHPk2JrsDqEtRHDl102ya9CS",
  "id": "fc_04ddc73f3b8d8cde016ab2c532b79087d0a630024f5a3c0479",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eHPk2JrsDqEtRHDl102ya9CS",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6792, 2.2555, 1.8957, -0.0376, -0.8982, -0.1093, 0.0141, 0.038, 0.9966, 0.8036, -1.018, 0.0814, -0.1242, 0.9954]\nstate[eef_state]: left_x=0.5588 left_y=-0.2689 left_z=0.2169 left_yaw=0.1227 left_pitch=0.3201 left_roll=0.2359 left_gripper=0.0141 right_x=0.2154 right_y=-0.0026 right_z=0.1153 right_yaw=0.0357 right_pitch=-0.6259 right_roll=-0.1504 right_gripper=0.9954\nstate[joint_eff]: [0.1299, -12.1368, 5.9966, 1.4921, -0.0904, -0.0366, 0.232, -0.0068, -2.6735, 6.3385, 1.116, -0.0317, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5301343055da02da5154866b6033a8eb47c575490997cd5ef2e41f7777486459",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30727cbc654ae611907469cdd037af01dc530834c1d43eca94f71da7c3ea7752",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b7e808ecbe89ed63b7e26f978734275db4bd136d1fe29d3cdd3a28124f77ebd",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /responses · status 200 · 8.067 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 126 changed as sent

message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6804, 2.2501, 1.9091, -0.0952, -0.902, -0.1093, 0.0118, 0.038, 1.0115, 0.8242, -1.0229, 0.0814, -0.1242, 0.9954]\nstate[eef_state]: left_x=0.5557 left_y=-0.2668 left_z=0.2163 left_yaw=0.1159 left_pitch=0.2941 left_roll=0.2663 left_gripper=0.0118 right_x=0.2188 right_y=-0.0025 right_z=0.1189 right_yaw=0.0357 right_pitch=-0.6251 right_roll=-0.1504 right_gripper=0.9954\nstate[joint_eff]: [0.5949, -11.7538, 5.7231, 1.3016, -0.0611, -0.0269, 0.5641, 0.0068, -2.7829, 6.188, 1.1062, -0.0171, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssU97DOkCbentucvyJtp_bVklaZfMaS24r0lCOmmBAnFgZIdusOhR-b05aPOeXnTZ8O0VZ8aDilNReo1CmLLgQTQeeEnmCWOuty_FXYQkveRfACzkpGioqaynBoj75ZA_M7MzEys33trqCdk-EZ-PPosjUVhxlBZjcoTP-_S6eaLrlFzqmWZzQ_ltdbvoQJUV0KnP0lmAIt8UDgE7LjrE3b2rCul34uAUYdcYTePgnXcolB7zNUhaPTReqoUwWBX2gHWjRFQFXoJLR_wuumy8NQiREzKtkLZShlVxv0tQ-wQM64e7l9miysHYSBy_Wslx9cNZ6QmpkNIseXmz0W2Qti89dkFZ6PlBMfRhuuOyMNlXGov6xMIN4OaoAKtal14YR7RM500rPVe4rznJAOveLsGhECklOC21kdB5jXyTm1lmiimk79mNsPLYMu6MlkqUY3nx6SHoyD4IvhB9Uu_JuKkYQZucnn8qACWWc6mct_wEiCVpYTktX0jl5uKT7zbL6XUqrVoJeFmSemDI5q8R2tZLQbdvG-69aHpfyjDjn_XbdWb3ofi_nnV9DHW616mNahtk1Xp1B7_5LrEB6ZSX-IhG9PVZXYQfCT1dnwrCzLVuvhk-HvTF2JMDU5pPS7Lm11W-pkTtzIzbKYtjTsyZPw0_CSinshw1BJ95aPKNG7QwflhqoWw3RXtI505Aoicrz1ZeQZT7znggT9McZ3dtqfHElaBHnnJOx6I7RD66iJlDJSLDE0xfN4gyjINDqeNU_Q-jdUzQs8R61zHoDv5KrwH8laEpX9Ae0ruFlZyCN98tBioT7z3mKmQRnzS-GErMzdFEGMDAr_C3k8jX7BTpxHaVx3I1Y4wH1JaEgV4uRGqHFubR6wjYTSf_r3YsNWbKgzPWSCrEAFrhA7XygGVM-zL1iWHlQb2D5gGCxBtm3hvNpaN1y5wPZXKZRVgh-jV9mGZkGK6LpslYDNH30mQ2uPX54XLV45aGiwjjatL1-zJY1stanZZCuSALBsThuITrNlZS7zcdrFHaLF674GTir31J0X4nR_ItexByvmb1ym3l3xhlXzopviVFkeyKvzLKmdMirRxSsnCYrUi6ReMjAg0GivSfTvNL2VlWQljyC7cB6qTqtMyS6x5owKDjaC3ZiDDsq77rjzCC5G-fPUOMbNlVarcOKnKiXs17sOAs_aQivZz4YN8ab_XsX2KgFA86Omj3RjilBD2NnfpUcN96Z4ChdS44h1_cCCewJhqppFMdUatR85owbKMv3J_mf_wuNxD756UDrxV8440XLw2vRjfia2xui8ZR2Zw3SBvAFRV7mHoH69v-o0tNg4UvE7_WR5T-fA5qgI8XMCH1jnTbSMs3AzYUZjiZmAYBOZLrJlf1557ttipdwAXb3Dl2TMsIBXUqxTcUsQZKyiYt-fDnyewyWgZbjzZ2rHynzli3CmkX6CbMWf2FF88iUHmt2kRW3-L3qi2MsFCmGAnqd8PPuOIRqxxAcvLgZ0S5F9rGz6_0PlbUrN2bwuCXqzHRZ7Uemyn",
  "id": "rs_04ddc73f3b8d8cde016ab2c538e77c87d0b4e84d5d4afb5b25",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.53,\"left_z\":0.32,\"left_pitch\":0.0},\"note\":\"The lid did not move and the gripper remained blocked at its edge. I will lift clear rather than force that contact.\"}",
  "call_id": "call_ssTZ3oX5cTa9bkcEQIIwgOo0",
  "id": "fc_04ddc73f3b8d8cde016ab2c53bcf4c87d0ba696c2dccfafa05",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ssTZ3oX5cTa9bkcEQIIwgOo0",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6792, 2.5038, 2.9059, -1.2037, -0.7742, -0.3599, 0.0164, 0.038, 0.9768, 0.7841, -1.0153, 0.0814, -0.1242, 0.9954]\nstate[eef_state]: left_x=0.5239 left_y=-0.2596 left_z=0.2793 left_yaw=0.114 left_pitch=0.0195 left_roll=0.2456 left_gripper=0.0164 right_x=0.2117 right_y=-0.0028 right_z=0.1128 right_yaw=0.0357 right_pitch=-0.6228 right_roll=-0.1504 right_gripper=0.9954\nstate[joint_eff]: [0.294, -15.241, 8.0342, 1.4383, -0.3199, -0.0708, 0.2222, -0.0615, -2.359, 6.5299, 1.0867, 0.022, -0.0464, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4772903368cca1eeaead91493f28b5e121f2637652ce23fc3ca722d11007ee61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b957db00fca2f10c63874cbc3aa656560c680557425d0fa8f9c9a150979f147",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a059fb1c0e621db3ec7209d320c12b1a5b09765d4fbf376677c2eff9b2ee24af",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 8.475 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 130 changed as sent

message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6792, 2.2555, 1.8957, -0.0376, -0.8982, -0.1093, 0.0141, 0.038, 0.9966, 0.8036, -1.018, 0.0814, -0.1242, 0.9954]\nstate[eef_state]: left_x=0.5588 left_y=-0.2689 left_z=0.2169 left_yaw=0.1227 left_pitch=0.3201 left_roll=0.2359 left_gripper=0.0141 right_x=0.2154 right_y=-0.0026 right_z=0.1153 right_yaw=0.0357 right_pitch=-0.6259 right_roll=-0.1504 right_gripper=0.9954\nstate[joint_eff]: [0.1299, -12.1368, 5.9966, 1.4921, -0.0904, -0.0366, 0.232, -0.0068, -2.6735, 6.3385, 1.116, -0.0317, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssVGA16eceisWG84QAy2RRtnN0QyNUAyMIUT4G6a59Ln9X_emlBDF8IOA24EmjdYHWTZ-FV1ZGWmw272NeQiEhcA2sOQGxQ_KV1klor8zfCFDgGcV_GKa5i1z9NQFf1R7guM2-BUGLGagpF4jp7tiZ1ZM8gZzCm4bO3lHyNKVmwDPldOXjHASaW5owDJQfS2jKhuGCUf5YRKfJRPDeo_NpsejmlH58OJrbDfeehYeCjOLt32fDuHXN0HNpHvxq5nlFzCdaG2ODngDri4FSt5dcPvdSOjX4C2SEsj6svI8sIn2JD_hPIFso3joPxaDeRE2vJdr04SrRNleqVbd1QBXIQafgKfd7pEEAYFn_SFfjEXboQKhW8Tp5ktqJLuOJD6PBkjAL0hQBeNji6u3HPYTDxcHNPGvkbwM9NcQcj0JI5WH94yu2GAXID7Duc6d16tFKaccTno56umFSFJzoNhVIzeoHd820odwMoHUdqWr1Ps4QMrwq5nsuALz8mYZ8Iqp0KL2uCMYDnwCbaop6E7LqAFtW_zmC7sD_JrAAfVujDuJXq76rr1QaaIdp1qIHSSefavaRdE-4yZDCTiK-3h6F5PziqbpWSfNd2YoMqXbldnU9Cz6Wm9be9I6TSWTDNUxGy1xxE5MIAv6pOX2ES6t8tKhWUIRo5S0gx-Wtv78sTSOFMS32Nge43IJSxMZ-0zUX4d9Arv4rtH6sjxbkrzU8-VwGqsFA83zJfZ8u9gsWSHsnYreqGzRdGe-j0-xJmmKwP8uGa64Q627GQJqhrYdrI5D4MUUVcCUN5OXfQgNxzpAzjM-Qf-YMusy5JNA0LQRGkpg5zo-8XWEfDO8Ix5alSfRPd8MZ2Kp64XIfkjOZggPiAQJUYRiE_ZQtI5PZp3uxNdOvZ3ze3JGlWq3cj-iBdfT9IoKYKaeaSrWC8UfPMwD3wDx6a7pFPm0wJnlzIziA74NPljcX1sPCYkne8HEaGby6KKiqRMEgNzPkwBlWXSAUW0elB811NQsOF1JoVz7uBdH0eocwRRmHaHxlUn2GsLgt7OhzkbNtci-zMSqqjlVCmXOpf7Ql-plD3rgfIysQLTq79jsr4hbhWSibYIcbmY3Cm0tLGMaauuQvlKSl72b7byzzm0lqukIBt7ZV5aPBzs96Ct5WKnl_uuSjupJNuyKqvHrZluJvqypzcFwD5cPf-v3CgOB6zIMI79kqHeO2Su_Lv6h-9EsvFs20Pp-3rqskb0u8THtCle2qLKksiS7mVLSg26--ixwUWIHGHzFyYKZXB8Qxd252EIv7NCxEBcPVAEWKAyTaq5S1jiGORYertrcEUzsn0VG4-BP8xAqZBnXRkFnGoEhK9YTC5FYnSXKQPxjcwVqeFC8jNouNJ6BmmFL34YzCZD-J14Qs5Uc4lKEHhDOShonk0n4KsCtbsckDFxOcu5ntcq4uhpgOlCnaNNB99DlG0q6I_UQBt_L9xlqtv0CWvZn5EA04xhHJe602Wx-Mr3PFSlyOm-t3_Zg2ta0SJquzLqwjpyUf5CSiL0DpdfbS53yGFJlnr_ZUHf7Q==",
  "id": "rs_04ddc73f3b8d8cde016ab2c541d19c87d08f0935dec47442a0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.59,\"left_z\":0.28,\"left_pitch\":0.3},\"note\":\"The gripper is clear of the lid. I will position it farther behind the top edge so the next motion pushes the lid forward rather than catching its inner face.\"}",
  "call_id": "call_AJp8Alp663UzmUMRG9ISiKXd",
  "id": "fc_04ddc73f3b8d8cde016ab2c5452b2887d0aa5e0476ac885261",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AJp8Alp663UzmUMRG9ISiKXd",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6792, 2.4966, 2.9574, -1.3067, -0.762, -0.3763, 0.0179, 0.038, 0.9611, 0.7662, -1.0145, 0.0814, -0.1238, 0.9954]\nstate[eef_state]: left_x=0.5107 left_y=-0.251 left_z=0.2854 left_yaw=0.1144 left_pitch=-0.0157 left_roll=0.2571 left_gripper=0.0179 right_x=0.208 right_y=-0.0029 right_z=0.1097 right_yaw=0.0355 right_pitch=-0.6243 right_roll=-0.1503 right_gripper=0.9954\nstate[joint_eff]: [0.0205, -14.3248, 6.0513, 1.409, -0.3736, -0.0708, 0.1343, -0.0752, -1.9214, 6.2974, 1.0574, -0.0269, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34d5953d18d3d3f9906d0d6f8a96f25406bcb7872ada0218201098080327293a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:565b1afc006156dfcf934ce213c84675c447e1567633244472b4cc9c5918364a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5b8ebc9b668eba38b784bcdfbed2faae0bfa404dc4a3dbd690ff42f00acfa5d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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